324 citations · 420 across the 56 of their papers we have counts for
3 papers · 1 filter
Input-to-State Safety With Control Barrier Functions
Shishir Kolathaya, Aaron D. Ames
This letter presents a new notion of input-to-state safe control barrier functions (ISSf-CBFs), which ensure safety of nonlinear dynamical systems under input disturbances. Similar…
Input to State Stability of Bipedal Walking Robots: Application to DURUS
Shishir Kolathaya, Jacob Reher, Aaron D. Ames
Bipedal robots are a prime example of systems which exhibit highly nonlinear dynamics, underactuation, and undergo complex dissipative impacts. This paper discusses methods used to…
System Identification and Control of Valkyrie through SVA--Based Regressor Computation
Shishir Kolathaya, Benjamin J. Morris, Ryan W. Sinnet +1
This paper demonstrates simultaneous identification and control of the humanoid robot, Valkyrie, utilizing Spatial Vector Algebra (SVA). In particular, the inertia, Coriolis-centri…