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cs.RO2026
Jacobian State Augmented Viable Kinematic Safety Filter
Siddharth Singh, Joshua Vaughan
Safety Filters (SF) are leveraged to design certifiably safe controllers, which ensures forward invariance on a defined safe set when the filter is feasible. Predictive Safety Filt…
cs.RO2022
Selecting Mechanical Parameters of a Monopode Jumping System with Reinforcement Learning
Andrew Albright, Joshua Vaughan
Legged systems have many advantages when compared to their wheeled counterparts. For example, they can more easily navigate extreme, uneven terrain. However, there are disadvantage…