17 citations · 45 across the 43 of their papers we have counts for
9 papers · 1 filter
Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects and Dynamics
Fernando Castañeda, Jason J. Choi, Bike Zhang +2
This paper presents a method to design a min-norm Control Lyapunov Function (CLF)-based stabilizing controller for a control-affine system with uncertain dynamics using Gaussian Pr…
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…
Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization
Chenyu Yang, Bike Zhang, Jun Zeng +2
The feet of robots are typically used to design locomotion strategies, such as balancing, walking, and running. However, they also have great potential to perform manipulation task…
Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function
Jun Zeng, Bike Zhang, Koushil Sreenath
The optimal performance of robotic systems is usually achieved near the limit of state and input bounds. Model predictive control (MPC) is a prevalent strategy to handle these oper…
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…
Robust Safety-Critical Control for Dynamic Robotics
Quan Nguyen, Koushil Sreenath
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-c…