4 papers
A Compositional Perspective on Communication-Control Co-Design for Mobile Broadband Systems Beyond 6G
Angelo Vera-Rivera, Atefeh Termehchi, Ekram Hossain
Anticipated applications of beyond sixth-generation (B6G) mobile broadband networks will require the co-design of communication and control subsystems within the network architectu…
Hip Energized Monopedal Hopping
Shane Rozen-Levy, Griffon McMahon, Daniel Koditschek
We present a novel stepping strategy for pitch unlocked planar monopeds where the reaction torques from stabilizing pitch with a conventional PD + feedfoward controller are recruit…
ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control
Jean Pierre Sleiman, He Li, Alphonsus Adu-Bredu +25
Achieving robust, human-like whole-body control on humanoid robots for agile, contact-rich behaviors remains a central challenge, demanding heavy per-skill engineering and a brittl…
Technical Report: A New Hopping Controller for Highly Dynamical Bipeds
Shane Rozen-Levy, Daniel E. Koditschek
We present angle of attack control, a novel control strategy for a hip energized Penn Jerboa. The energetic losses from damping are counteracted by aligning most of the velocity at…