47 citations · 47 across the 4 of their papers we have counts for
3 papers · 1 filter
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…