2 citations · 3 across the 2 of their papers we have counts for
5 papers
Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots
He Li, Patrick M. Wensing
This paper presents a Differential Dynamic Programming (DDP) framework for trajectory optimization (TO) of hybrid systems with state-based switching. The proposed Hybrid Systems DD…
Robust Approximate Simulation for Hierarchical Control of Linear Systems under Disturbances
Vince Kurtz, Patrick M. Wensing, Hai Lin
Approximate simulation, an extension of simulation relations from formal methods to continuous systems, is a powerful tool for hierarchical control of complex systems. Finding an a…
Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model
Hua Chen, Patrick M. Wensing, Wei Zhang
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modu…
Formal Connections between Template and Anchor Models via Approximate Simulation
Vince Kurtz, Rafael Rodrigues da Silva, Patrick M. Wensing +1
Reduced-order template models like the Linear Inverted Pendulum (LIP) and Spring-Loaded Inverted Pendulum (SLIP) are widely used tools for controlling high-dimensional humanoid rob…
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion
Octavio Villarreal, Victor Barasuol, Patrick M. Wensing +2
We present a novel control strategy for dynamic legged locomotion in complex scenarios, that considers information about the morphology of the terrain in contexts when only on-boar…