143 citations · 378 across the 39 of their papers we have counts for
5 papers · 1 filter
Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control
Vince Kurtz, Patrick M. Wensing, Hai Lin
Task-space Passivity-Based Control (PBC) for manipulation has numerous appealing properties, including robustness to modeling error and safety for human-robot interaction. Existing…
Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics
Vince Kurtz, He Li, Patrick M. Wensing +1
Seemingly in defiance of basic physics, cats consistently land on their feet after falling. In this paper, we design a controller that lands the Mini Cheetah quadruped robot on its…
Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum
Junwei Liu, Hua Chen, Patrick M. Wensing +1
Balancing is a fundamental need for legged robots due to their unstable floating-base nature. Balance control has been thoroughly studied for simple models such as the linear inver…
Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
An essential need for many model-based robot control algorithms is the ability to quickly and accurately compute partial derivatives of the equations of motion. State of the art ap…
Accelerating Second-Order Differential Dynamic Programming for Rigid-Body Systems
John N. Nganga, Patrick M. Wensing
This letter presents a method to reduce the computational demands of including second-order dynamics sensitivity information into the Differential Dynamic Programming (DDP) traject…