2 citations · 2 across the 6 of their papers we have counts for
3 papers · 1 filter
Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters
Meg Wilkinson, Gilbert Bahati, Ryan M. Bena +3
Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety f…
KALIKO: Kalman-Implicit Koopman Operator Learning For Prediction of Nonlinear Dynamical Systems
Albert H. Li, Ivan Dario Jimenez Rodriguez, Joel W. Burdick +2
Long-horizon dynamical prediction is fundamental in robotics and control, underpinning canonical methods like model predictive control. Yet, many systems and disturbance phenomena…
Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis
Kejun Li, Jeeseop Kim, Maxime Brunet +3
Robust bipedal locomotion in exoskeletons requires the ability to dynamically react to changes in the environment in real time. This paper introduces the hybrid data-driven predict…