5 citations · 7 across the 5 of their papers we have counts for
5 papers
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics
Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker +1
Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of t…
Input-to-State Stability in Probability
Preston Culbertson, Ryan K. Cosner, Maegan Tucker +1
Input-to-State Stability (ISS) is fundamental in mathematically quantifying how stability degrades in the presence of bounded disturbances. If a system is ISS, its trajectories wil…
An Input-to-State Stability Perspective on Robust Locomotion
Maegan Tucker, Aaron D. Ames
Uneven terrain necessarily transforms periodic walking into a non-periodic motion. As such, traditional stability analysis tools no longer adequately capture the ability of a biped…
POLAR: Preference Optimization and Learning Algorithms for Robotics
Maegan Tucker, Kejun Li, Yisong Yue +1
Parameter tuning for robotic systems is a time-consuming and challenging task that often relies on domain expertise of the human operator. Moreover, existing learning methods are n…
Safety-Aware Preference-Based Learning for Safety-Critical Control
Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor +7
Bringing dynamic robots into the wild requires a tenuous balance between performance and safety. Yet controllers designed to provide robust safety guarantees often result in conser…