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cs.RO2023
A Data-Driven Approach to Synthesizing Dynamics-Aware Trajectories for Underactuated Robotic Systems
Anusha Srikanthan, Fengjun Yang, Igor Spasojevic +3
We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer use…
cs.RO2023★ 8 cited
RotorPy: A Python-based Multirotor Simulator with Aerodynamics for Education and Research
Spencer Folk, James Paulos, Vijay Kumar
Simulators play a critical role in aerial robotics both in and out of the classroom. We present RotorPy, a simulation environment written entirely in Python intentionally designed…
cs.RO2023
Towards Automatic Identification of Globally Valid Geometric Flat Outputs via Numerical Optimization
Jake Welde, Vijay Kumar
Differential flatness enables efficient planning and control for underactuated robotic systems, but we lack a systematic and practical means of identifying a flat output (or determ…