12 citations · 16 across the 4 of their papers we have counts for
4 papers
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization
Michael R. Turski, Joseph Norby, Aaron M. Johnson
Trajectory optimization problems for legged robots are commonly formulated with fixed contact schedules. These multi-phase Hybrid Trajectory Optimization (HTO) methods result in lo…
Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots
Yanhao Yang, Joseph Norby, Justin K. Yim +1
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failu…
Adaptive Complexity Model Predictive Control
Joseph Norby, Ardalan Tajbakhsh, Yanhao Yang +1
This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and…
Environmental Sampling with the Boustrophedon Decomposition Algorithm
Hannah He, Joe Norby, Sean Wang +4
The automation of data collection via mobile robots holds promise for increasing the efficacy of environmental investigations, but requires the system to autonomously determine how…