4 papers · 1 filter
Multi-Momentum Observer Contact Estimation for Bipedal Robots
J. Joe Payne, Daniel A. Hagen, Denis Garagić +1
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this p…
Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems
J. Joe Payne, James Zhu, Nathan J. Kong +1
In this paper we present Hybrid iterative Linear Quadratic Estimation (HiLQE), an optimization based offline state estimation algorithm for hybrid dynamical systems. We utilize the…
Double-Anonymous Review for Robotics
Justin K. Yim, Paul Nadan, James Zhu +4
Prior research has investigated the benefits and costs of double-anonymous review (DAR, also known as double-blind review) in comparison to single-anonymous review (SAR) and open r…
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems
Nathan J. Kong, J. Joe Payne, James Zhu +1
Hybrid dynamical systems, i.e. systems that have both continuous and discrete states, are ubiquitous in engineering, but are difficult to work with due to their discontinuous trans…