2 citations · 3 across the 9 of their papers we have counts for
11 papers
Complementarity by Construction: A Lie-Group Approach to Solving Quadratic Programs with Linear Complementarity Constraints
Arun L. Bishop, Micah I. Reich, Zachary Manchester
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problem…
Implicit Primal-Dual Interior-Point Methods for Quadratic Programming
Jon Arrizabalaga, Zachary Manchester
This paper introduces a new method for solving quadratic programs using primal-dual interior-point methods. Instead of handling complementarity as an explicit equation in the Karus…
ADMM-based Continuous Trajectory Optimization in Graphs of Convex Sets
Lukas Pries, Jon Arrizabalaga, Zachary Manchester +1
This paper presents a numerical solver for computing continuous trajectories in non-convex environments. Our approach relies on a customized implementation of the Alternating Direc…
Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations
Xili Yi, Ying Xing, Zachary Manchester +1
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage…
Universal Dynamics with Globally Controlled Analog Quantum Simulators
Hong-Ye Hu, Abigail McClain Gomez, Liyuan Chen +6
Analog quantum simulators with global control fields have emerged as powerful platforms for exploring complex quantum phenomena. Despite these advances, a fundamental theoretical q…
From Pixels to Torques with Linear Feedback
Jeong Hun Lee, Sam Schoedel, Aditya Bhardwaj +1
We demonstrate the effectiveness of simple observer-based linear feedback policies for "pixels-to-torques" control of robotic systems using only a robot-facing camera. Specifically…
Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC
Ishaan Mahajan, Khai Nguyen, Sam Schoedel +4
Model-predictive control (MPC) is a state-of-the-art control method for constrained robotic systems, yet deployment on resource-limited hardware remains difficult. This challenge i…
TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers
Anoushka Alavilli, Khai Nguyen, Sam Schoedel +2
Model-predictive control (MPC) is a powerful tool for controlling highly dynamic robotic systems subject to complex constraints. However, MPC is computationally demanding, and is o…
Direct Collocation for Quantum Optimal Control
Aaron Trowbridge, Aditya Bhardwaj, Kevin He +2
We present an adaptation of direct collocation -- a trajectory optimization method commonly used in robotics and aerospace applications -- to quantum optimal control (QOC); we refe…
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications
Jeong Hun Lee, Mike Y. Michelis, Robert Katzschmann +1
We present Aquarium, a differentiable fluid-structure interaction solver for robotics that offers stable simulation, accurately coupled fluid-robot physics in two dimensions, and f…
A Dynamics Simulator for Soft Growing Robots
Rianna Jitosho, Nathaniel Agharese, Allison Okamura +1
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast…