78 citations · 133 across the 18 of their papers we have counts for
Showing 2016 · cs.ROShow all
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cs.RO2016
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…
cs.RO2016
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…