47 citations · 47 across the 4 of their papers we have counts for
6 papers
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots
Nathan J. Kong, Chuanzheng Li, Aaron M. Johnson
Model Predictive Control (MPC) is a popular strategy for controlling robots but is difficult for systems with contact due to the complex nature of hybrid dynamics. To implement MPC…
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits
James Zhu, Nathan J. Kong, George Council +1
Many controllers for legged robotic systems leverage open- or closed-loop control at discrete hybrid events to enhance stability. These controllers appear in several well studied p…
Representing and computing the B-derivative of an vector field's flow
George Council, Shai Revzen, Samuel A. Burden
This paper concerns the first-order approximation of the piecewise-differentiable flow generated by a class of nonsmooth vector fields. Specifically, we represent and compute the B…
iLQR for Piecewise-Smooth Hybrid Dynamical Systems
Nathan J. Kong, George Council, Aaron M. Johnson
Trajectory optimization is a popular strategy for planning trajectories for robotic systems. However, many robotic tasks require changing contact conditions, which is difficult due…
The Salted Kalman Filter: Kalman Filtering on Hybrid Dynamical Systems
Nathan J. Kong, J. Joe Payne, George Council +1
Many state estimation and control algorithms require knowledge of how probability distributions propagate through dynamical systems. However, despite hybrid dynamical systems becom…
Recovery of Behaviors Encoded via Bilateral Constraints
George Council, Shai Revzen
If robots are ever to achieve autonomous motion comparable to that exhibited by animals, they must acquire the ability to quickly recover motor behaviors when damage, malfunction,…