22 citations · 22 across the 3 of their papers we have counts for
3 papers · 1 filter
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…
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
James Zhu, J. Joe Payne, Aaron M. Johnson
In order to perform highly dynamic and agile maneuvers, legged robots typically spend time in underactuated domains (e.g. with feet off the ground) where the system has limited com…
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits
James Zhu, Nathan J. Kong, George Council +1
Many controllers for legged robotic systems leverage open- or closed-loop control at discrete hybrid events to enhance stability. These controllers appear in several well studied p…