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pro vyhledávání: '"A P, Shanklin"'
The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be both kinematically feasible (i.e., collision free) and dynamically fea
Externí odkaz:
http://arxiv.org/abs/2411.13507
Autor:
Csomay-Shanklin, Noel, Ames, Aaron D.
Control architectures are often implemented in a layered fashion, combining independently designed blocks to achieve complex tasks. Providing guarantees for such hierarchical frameworks requires considering the capabilities and limitations of each la
Externí odkaz:
http://arxiv.org/abs/2411.13506
Autor:
Csomay-Shanklin, Noel, Compton, William D., Rodriguez, Ivan Dario Jimenez, Ambrose, Eric R., Yue, Yisong, Ames, Aaron D.
We study the design of robust and agile controllers for hybrid underactuated systems. Our approach breaks down the task of creating a stabilizing controller into: 1) learning a mapping that is invariant under optimal control, and 2) driving the actua
Externí odkaz:
http://arxiv.org/abs/2409.06125
Autor:
Compton, William, Rodriguez, Ivan Dario Jimenez, Csomay-Shanklin, Noel, Yue, Yisong, Ames, Aaron D.
Stabilizing underactuated systems is an inherently challenging control task due to fundamental limitations on how the control input affects the unactuated dynamics. Decomposing the system into actuated (output) and unactuated (zero) coordinates provi
Externí odkaz:
http://arxiv.org/abs/2408.14749
We consider the problem of reasoning about networked and layered control systems using assume-guarantee specifications. As these systems are formed by the interconnection of components that operate under various clocks, we introduce a new logic, Mult
Externí odkaz:
http://arxiv.org/abs/2402.11666
Achieving stable hopping has been a hallmark challenge in the field of dynamic legged locomotion. Controlled hopping is notably difficult due to extended periods of underactuation combined with very short ground phases wherein ground interactions mus
Externí odkaz:
http://arxiv.org/abs/2209.11808
The ability to generate robust walking gaits on bipedal robots is key to their successful realization on hardware. To this end, this work extends the method of Hybrid Zero Dynamics (HZD) -- which traditionally only accounts for locomotive stability v
Externí odkaz:
http://arxiv.org/abs/2209.10452
This work presents Neural Gaits, a method for learning dynamic walking gaits through the enforcement of set invariance that can be refined episodically using experimental data from the robot. We frame walking as a set invariance problem enforceable v
Externí odkaz:
http://arxiv.org/abs/2204.08120
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet traditional c
Externí odkaz:
http://arxiv.org/abs/2204.00152
Autor:
Galliker, Manuel Y., Csomay-Shanklin, Noel, Grandia, Ruben, Taylor, Andrew J., Farshidian, Farbod, Hutter, Marco, Ames, Aaron D.
The ability to generate dynamic walking in real-time for bipedal robots with input constraints and underactuation has the potential to enable locomotion in dynamic, complex and unstructured environments. Yet, the high-dimensional nature of bipedal ro
Externí odkaz:
http://arxiv.org/abs/2203.07429