3 papers
eess.SY2026
Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
Leonardo Colombo, Álvaro Rodríguez Abella, Alexandre Anahory Simoes +1
Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore de…
cs.AI2024
The Asymptotic Behavior of Attention in Transformers
Álvaro Rodríguez Abella, João Pedro Silvestre, Paulo Tabuada
The transformer architecture has become the foundation of modern Large Language Models (LLMs), yet its theoretical properties are still not well understood. As with classic neural…
math-ph2023
Implicit Nonholonomic Mechanics with Collisions
Álvaro Rodríguez Abella, Leonardo Colombo
In this paper, variational techniques are used to analyze the dynamics of nonholonomic mechanical systems with impacts. Implicit nonholonomic smooth Lagrangian and Hamiltonian syst…