28 citations · 57 across the 28 of their papers we have counts for
4 papers · 1 filter
Contact-Aware Controller Design for Complementarity Systems
Alp Aydinoglu, Victor M. Preciado, Michael Posa
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle…
Optimal Reduced-order Modeling of Bipedal Locomotion
Yu-Ming Chen, Michael Posa
State-of-the-art approaches to legged locomotion are widely dependent on the use of models like the linear inverted pendulum (LIP) and the spring-loaded inverted pendulum (SLIP), p…
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming
Mathew Halm, Michael Posa
Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-p…
Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts
Mathew Halm, Michael Posa
Many fundamental challenges in robotics, based in manipulation or locomotion, require making and breaking contact with the environment. To represent the complexity of frictional co…