78 citations · 133 across the 18 of their papers we have counts for
4 papers · 1 filter
Computing the Bouligand derivative of a class of piecewise-differentiable flows
Shai Revzen, Samuel A Burden
Event--selected vector fields yield piecewise-differentiable flows, which possess a continuous and piecewise-linear Bouligand (or B-)derivative; here we provide an algorithm…
Piecewise-differentiable trajectory outcomes in mechanical systems subject to unilateral constraints
Andrew M. Pace, Samuel A. Burden
We provide conditions under which trajectory outcomes in mechanical systems subject to unilateral constraints depend piecewise-differentiably on initial conditions, even as the seq…
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…