Zobrazeno 1 - 10
of 10
pro vyhledávání: '"Halm, Mathew"'
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like complex joi
Externí odkaz:
http://arxiv.org/abs/2310.12054
This paper investigates the learning, or system identification, of a class of piecewise-affine dynamical systems known as linear complementarity systems (LCSs). We propose a violation-based loss which enables efficient learning of the LCS parameteriz
Externí odkaz:
http://arxiv.org/abs/2112.13284
Inspired by recent strides in empirical efficacy of implicit learning in many robotics tasks, we seek to understand the theoretical benefits of implicit formulations in the face of nearly discontinuous functions, common characteristics for systems th
Externí odkaz:
http://arxiv.org/abs/2112.06881
Frictional contact has been extensively studied as the core underlying behavior of legged locomotion and manipulation, and its nearly-discontinuous nature makes planning and control difficult even when an accurate model of the robot is available. Her
Externí odkaz:
http://arxiv.org/abs/2103.15406
Autor:
Halm, Mathew, Posa, Michael
Robotic manipulation and locomotion often entail nearly-simultaneous collisions -- such as heel and toe strikes during a foot step -- with outcomes that are extremely sensitive to the order in which impacts occur. Robotic simulators commonly lack the
Externí odkaz:
http://arxiv.org/abs/2103.15714
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit encoding o
Externí odkaz:
http://arxiv.org/abs/2009.11193
Autor:
Halm, Mathew, Posa, Michael
Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-prehensile manipulation. In this work, we present a novel quasi-static
Externí odkaz:
http://arxiv.org/abs/1902.03487
Autor:
Halm, Mathew, Posa, Michael
Many fundamental challenges in robotics, based in manipulation or locomotion, require making and breaking contact with the environment. To represent the complexity of frictional contact events, impulsive impact models are especially popular, as they
Externí odkaz:
http://arxiv.org/abs/1902.01462
Autor:
Halm, Mathew1 (AUTHOR) mhalm@seas.upenn.edu, Posa, Michael1 (AUTHOR)
Publikováno v:
International Journal of Robotics Research. Sep2024, Vol. 43 Issue 10, p1594-1628. 35p.
Autor:
Halm, Mathew, Posa, Michael
Robotic manipulation and locomotion often entail nearly-simultaneous collisions -- such as heel and toe strikes during a foot step -- with outcomes that are extremely sensitive to the order in which impacts occur. Robotic simulators commonly lack the
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::4349987a2a405971a76777138c2de058