28 citations · 57 across the 28 of their papers we have counts for
3 papers · 1 filter
Stability Analysis of Complementarity Systems with Neural Network Controllers
Alp Aydinoglu, Mahyar Fazlyab, Manfred Morari +1
Complementarity problems, a class of mathematical optimization problems with orthogonality constraints, are widely used in many robotics tasks, such as locomotion and manipulation,…
ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations
Samuel Pfrommer, Mathew Halm, Michael Posa
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In…
Stabilization of Complementarity Systems via Contact-Aware Controllers
Alp Aydinoglu, Philip Sieg, Victor M. Preciado +1
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation an…