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eess.SY2017
Optimal control of a single leg hopper by Liouvillian system reduction
Patrick Slade, Siobhan Powell, Michael F. Howland
The benefits of legged locomotion shown in nature overcome challenges such as obstacles or terrain smoothness typically encountered with wheeled vehicles. This paper evaluates the…
eess.SY2017
Simultaneous active parameter estimation and control using sampling-based Bayesian reinforcement learning
Patrick Slade, Preston Culbertson, Zachary Sunberg +1
Robots performing manipulation tasks must operate under uncertainty about both their pose and the dynamics of the system. In order to remain robust to modeling error and shifts in…