1 citations · 1 across the 5 of their papers we have counts for
5 papers
Offline state estimation for hybrid systems via nonsmooth variable projection
Jize Zhang, Andrew M. Pace, Samuel A. Burden +1
A hybrid dynamical system switches between dynamic regimes at time- or state-triggered events. We propose an offline algorithm that simultaneously estimates discrete and continuous…
Computing the Bouligand derivative of a class of piecewise-differentiable flows
Shai Revzen, Samuel A Burden
Event--selected vector fields yield piecewise-differentiable flows, which possess a continuous and piecewise-linear Bouligand (or B-)derivative; here we provide an algorithm…
Piecewise-differentiable trajectory outcomes in mechanical systems subject to unilateral constraints
Andrew M. Pace, Samuel A. Burden
We provide conditions under which trajectory outcomes in mechanical systems subject to unilateral constraints depend piecewise-differentiably on initial conditions, even as the seq…
A Hybrid Dynamical Extension of Averaging
Avik De, Samuel A. Burden, Daniel E. Koditschek
We extend a smooth dynamical systems averaging technique to a class of hybrid systems with a limit cycle that is particularly relevant to the synthesis of stable legged gaits. Afte…
Event-Selected Vector Field Discontinuities Yield Piecewise-Differentiable Flows
Samuel A. Burden, S. Shankar Sastry, Daniel E. Koditschek +1
We study a class of discontinuous vector fields brought to our attention by multi-legged animal locomotion. Such vector fields arise not only in biomechanics, but also in robotics,…