78 citations · 133 across the 18 of their papers we have counts for
4 papers · 1 filter
Nonsmooth optimal value and policy functions in mechanical systems subject to unilateral constraints
Bora S. Banjanin, Samuel A. Burden
State-of-the-art approaches to optimal control use smooth approximations of value and policy functions and gradient-based algorithms for improving approximator parameters. Unfortun…
Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation
Andrew Pace, Samuel A. Burden
When limbs are decoupled, we find that trajectory outcomes in mechanical systems subject to unilateral constraints vary differentiably with respect to initial conditions, even as t…
A Hybrid Dynamical Extension of Averaging
Avik De, Samuel A. Burden, Daniel E. Koditschek
We extend a smooth dynamical systems averaging technique to a class of hybrid systems with a limit cycle that is particularly relevant to the synthesis of stable legged gaits. Afte…
A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems
Aaron M. Johnson, Samuel A. Burden, Daniel E. Koditschek
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despit…