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cs.RO2024
Robust Agility via Learned Zero Dynamics Policies
Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez +3
We study the design of robust and agile controllers for hybrid underactuated systems. Our approach breaks down the task of creating a stabilizing controller into: 1) learning a map…
cs.RO2019
Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity
Eric Ambrose, Aaron D. Ames
Robotic Hopping is challenging from the perspective of both modeling the dynamics as well as the mechanical design due to the short period of ground contact in which to actuate on…