2 papers
cs.RO2026
Learning Control Policies to Provably Satisfy Hard Affine Constraints for Black-Box Hybrid Dynamical Systems
Aayushi Shrivastava, Kartik Nagpal, Sairam Jinkala +2
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solu…
cs.RO2024
Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments
Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava, Jessy W Grizzle
This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces w…