47 citations · 69 across the 5 of their papers we have counts for
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cs.RO2022★ 47 cited
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…
cs.RO2022
The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards
J. Joe Payne, Nathan J. Kong, Aaron M. Johnson
In this paper we present a method for updating robotic state belief through contact with uncertain surfaces and apply this update to a Kalman filter for more accurate state estimat…