6 citations · 8 across the 2 of their papers we have counts for
8 papers
Animated Cassie: A Dynamic Relatable Robotic Character
Zhongyu Li, Christine Cummings, Koushil Sreenath
Creating robots with emotional personalities will transform the usability of robots in the real world. As previous emotive social robots are mostly based on statically stable robot…
Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning
Fernando Castañeda, Mathias Wulfman, Ayush Agrawal +4
The main drawbacks of input-output linearizing controllers are the need for precise dynamics models and not being able to account for input constraints. Model uncertainty is common…
Learning Min-norm Stabilizing Control Laws for Systems with Unknown Dynamics
Tyler Westenbroek, Fernando Castaneda, Ayush Agrawal +2
This paper introduces a framework for learning a minimum-norm stabilizing controller for a system with unknown dynamics using model-free policy optimization methods. The approach b…
Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions
Jason Choi, Fernando Castañeda, Claire J. Tomlin +1
In this paper, the issue of model uncertainty in safety-critical control is addressed with a data-driven approach. For this purpose, we utilize the structure of an input-ouput line…
Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control
Prasanth Kotaru, Koushil Sreenath
Using quadrotors UAVs for cooperative payload transportation using cables has been actively gaining interest in recent years. Understanding the dynamics of these complex multi-agen…
Geometric L1 Adaptive Attitude Control for a Quadrotor Unmanned Aerial Vehicle
Prasanth Kotaru, Ryan Edmonson, Koushil Sreenath
In this paper, we study the quadrotor UAV attitude control on SO(3) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles…