2 papers
eess.SY2024
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation
Zachary Olkin, Aaron D. Ames
Model Predictive Control (MPC) is a common tool for the control of nonlinear, real-world systems, such as legged robots. However, solving MPC quickly enough to enable its use in re…
cs.RO2024
Robust Agility via Learned Zero Dynamics Policies
Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez +3
We study the design of robust and agile controllers for hybrid underactuated systems. Our approach breaks down the task of creating a stabilizing controller into: 1) learning a map…