143 citations · 378 across the 39 of their papers we have counts for
8 papers · 1 filter
Coriolis Factorizations and their Connections to Riemannian Geometry
Patrick M. Wensing, Jean-Jacques E. Slotine
Many energy-based control strategies for mechanical systems require the choice of a Coriolis factorization satisfying a skew-symmetry property. This paper (a) explores if and when…
A Propagation Perspective on Recursive Forward Dynamics for Systems with Kinematic Loops
Matthew Chignoli, Nicholas Adrian, Sangbae Kim +1
We revisit the concept of constraint embedding as a means for dealing with kinematic loop constraints during dynamics computations for rigid-body systems. Specifically, we consider…
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming
He Li, Wenhao Yu, Tingnan Zhang +1
Differential Dynamic Programming (DDP) is an efficient computational tool for solving nonlinear optimal control problems. It was originally designed as a single shooting method and…
Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller
Ryan R. Posh, Jonathan A. Tittle, David J. Kelly +2
For robotic transtibial prosthesis control, the global kinematics of the tibia can be used to monitor the progression of the gait cycle and command smooth and continuous actuation.…
Towards Continuous Time Finite Horizon LQR Control in SE(3)
Shivesh Kumar, Andreas Mueller, Patrick Wensing +1
The control of free-floating robots requires dealing with several challenges. The motion of such robots evolves on a continuous manifold described by the Special Euclidean Group of…
Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
Differential Dynamic Programming (DDP) is a popular technique used to generate motion for dynamic-legged robots in the recent past. However, in most cases, only the first-order par…