11 citations · 18 across the 4 of their papers we have counts for
4 papers
The Koopman Expectation: An Operator Theoretic Method for Efficient Analysis and Optimization of Uncertain Hybrid Dynamical Systems
Adam R. Gerlach, Andrew Leonard, Jonathan Rogers +1
For dynamical systems involving decision making, the success of the system greatly depends on its ability to make good decisions with incomplete and uncertain information. By lever…
Cable Estimation-Based Control for Wire-Borne Underactuated Brachiating Robots: A Combined Direct-Indirect Adaptive Robust Approach
Siavash Farzan, Vahid Azimi, Ai-Ping Hu +1
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is…
Robust Control Synthesis and Verification for Wire-Borne Underactuated Brachiating Robots Using Sum-of-Squares Optimization
Siavash Farzan, Ai-Ping Hu, Michael Bick +1
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable sta…
Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot
Shuxiao Chen, Jonathan Rogers, Bike Zhang +1
Motivated towards achieving multi-modal locomotion, in this paper, we develop a framework for a bipedal robot to dynamically ride a pair of Hovershoes over various terrain. Our dev…