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06/12/2023
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems
Hybrid dynamical systems, i.e. systems that have both continuous and dis...
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07/11/2022
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots
Model Predictive Control (MPC) is a popular strategy for controlling rob...
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02/25/2022
The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards
In this paper we present a method for updating robotic state belief thro...
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10/03/2021
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits
Many controllers for legged robotic systems leverage open- or closed-loo...
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03/26/2021
iLQR for Piecewise-Smooth Hybrid Dynamical Systems
Trajectory optimization is a popular strategy for planning trajectories ...
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07/23/2020