28 citations · 32 across the 9 of their papers we have counts for
Showing 2021 · cs.ROShow all
2 papers · 2 filters
cs.RO2021
Validating Robotics Simulators on Real-World Impacts
Brian Acosta, William Yang, Michael Posa
A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses ranging from planning and control to training policies with reinforcement learning.…
cs.RO2021★ 28 cited
Impact Invariant Control with Applications to Bipedal Locomotion
William Yang, Michael Posa
When legged robots impact their environment, they undergo large changes in their velocities in a small amount of time. Measuring and applying feedback to these velocities is challe…