78 citations · 309 across the 22 of their papers we have counts for
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cs.RO2021
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits
James Zhu, Nathan J. Kong, George Council +1
Many controllers for legged robotic systems leverage open- or closed-loop control at discrete hybrid events to enhance stability. These controllers appear in several well studied p…
cs.RO2021
iLQR for Piecewise-Smooth Hybrid Dynamical Systems
Nathan J. Kong, George Council, Aaron M. Johnson
Trajectory optimization is a popular strategy for planning trajectories for robotic systems. However, many robotic tasks require changing contact conditions, which is difficult due…