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A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems

5 February 2015

Papers citing "A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems"

33 / 33 papers shown

Title
Discovering Optimal Natural Gaits of Dissipative Systems via Virtual Energy Injection Korbinian Griesbauer Davide Calzolari Maximilian Raff C. D. Remy Alin Albu-Schäffer 76 0 0 19 Nov 2025
Path Integral Control for Hybrid Dynamical Systems Hongzhe Yu Diana Frias Franco Aaron M. Johnson Yongxin Chen 153 0 0 01 Nov 2024
Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid SystemsIEEE Robotics and Automation Letters (RA-L), 2024 J. Joe Payne James Zhu Nathan J. Kong Aaron M. Johnson 156 0 0 25 Oct 2024
Impact-Aware Bimanual Catching of Large-Momentum Objects Lei Yan Theodoros Stouraitis João Moura Wenfu Xu Michael Gienger S. Vijayakumar 183 27 0 25 Mar 2024
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions Javier Borquez Shuang Peng Lydia Y. Chen Quan Nguyen Somil Bansal 172 3 0 19 Sep 2023
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical SystemsProceedings of the IEEE (Proc. IEEE), 2023 Nathan J. Kong J. Joe Payne James Zhu Aaron M. Johnson 245 20 0 12 Jun 2023
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory OptimizationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Michael R. Turski Joseph Norby Aaron M. Johnson 177 4 0 11 Apr 2023
Convergent iLQR for Safe Trajectory Planning and Control of Legged RobotsIEEE International Conference on Robotics and Automation (ICRA), 2023 James Zhu J. Joe Payne Aaron M. Johnson 435 7 0 01 Apr 2023
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed ApproachesIEEE Transactions on robotics (TRO), 2022 Jeeseop Kim Randall T. Fawcett Vinay R. Kamidi Aaron D. Ames K. Hamed 194 33 0 13 Nov 2022
Adaptive Complexity Model Predictive ControlIEEE Transactions on robotics (TRO), 2022 Joseph Norby Ardalan Tajbakhsh Yanhao Yang Aaron M. Johnson 195 8 0 06 Sep 2022
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged RobotsIEEE Transactions on robotics (TRO), 2022 Nathan J. Kong Chuanzheng Li Aaron M. Johnson 196 36 0 11 Jul 2022
Connecting Gaits in Energetically Conservative Legged SystemsIEEE Robotics and Automation Letters (RA-L), 2022 Maximilian Raff Nelson Rosa C. D. Remy 139 8 0 25 Feb 2022
An Adaptive Framework for Reliable Trajectory Following in Changing-Contact Robot Manipulation Tasks Saif Sidhik Mohan Sridharan Dirk Ruiken 78 0 0 15 Nov 2021
Poincaré-Hopf theorem for hybrid systems Matthew D. Kvalheim 83 2 0 17 Aug 2021
Neural Hybrid Automata: Learning Dynamics with Multiple Modes and Stochastic TransitionsNeural Information Processing Systems (NeurIPS), 2021 Michael Poli Stefano Massaroli Luca Scimeca Seong Joon Oh Sanghyuk Chun Atsushi Yamashita Hajime Asama Jinkyoo Park Animesh Garg AI4TS AI4CE 516 11 0 08 Jun 2021
Necessary conditions for feedback stabilization and safetyThe Journal of Geometric Mechanics (J. Geom. Mech.), 2021 Matthew D. Kvalheim D. Koditschek 105 11 0 01 Jun 2021
Set-Valued Rigid Body Dynamics for Simultaneous, Inelastic, Frictional Impacts Mathew Halm Michael Posa AI4CE 270 6 0 29 Mar 2021
iLQR for Piecewise-Smooth Hybrid Dynamical SystemsIEEE Conference on Decision and Control (CDC), 2021 Nathan J. Kong George Council Aaron M. Johnson 105 22 0 26 Mar 2021
The Salted Kalman Filter: Kalman Filtering on Hybrid Dynamical Systems Nathan J. Kong J. Joe Payne George Council Aaron M. Johnson 75 1 0 23 Jul 2020
Impact-Aware Task-Space Quadratic-Programming Control Yuquan Wang Niels Dehio Arnaud Tanguy A. Kheddar 426 26 0 03 Jun 2020
Conley's fundamental theorem for a class of hybrid systems Matthew D. Kvalheim Paul Gustafson D. Koditschek 90 9 0 07 May 2020
Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual ConstraintsIEEE Robotics and Automation Letters (RA-L), 2020 K. Hamed Jeeseop Kim Abhishek Pandala 136 40 0 15 Apr 2020
Reactive Navigation in Partially Familiar Planar Environments Using Semantic Perceptual Feedback V. Vasilopoulos Georgios Pavlakos Karl Schmeckpeper Kostas Daniilidis D. Koditschek 148 26 0 20 Feb 2020
Formal composition of hybrid systemsTheory and Applications of Categories (TAC), 2019 Jared Culbertson Paul Gustafson D. Koditschek Peter F. Stiller 84 10 0 04 Nov 2019
First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics ApproachIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2019 Wen-Loong Ma K. Hamed Aaron D. Ames 133 27 0 17 Sep 2019
Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts Mathew Halm Michael Posa 141 19 0 04 Feb 2019
Contact-Implicit Trajectory Optimization using Orthogonal Collocation Amir Patel Stacey Shield Saif R. Kazi Aaron M. Johnson L. Biegler 217 75 0 17 Sep 2018
Nonsmooth optimal value and policy functions in mechanical systems subject to unilateral constraints Bora S. Banjanin Samuel A. Burden 120 1 0 18 Oct 2017
Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments Shushman Choudhury Yifan Hou Gilwoo Lee S. Srinivasa 84 2 0 14 Oct 2017
Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems Gilwoo Lee Zita Marinho Aaron M. Johnson Geoffrey J. Gordon S. Srinivasa M. T. Mason 745 12 0 02 Oct 2017
Piecewise-differentiable trajectory outcomes in mechanical systems subject to unilateral constraints Andrew M. Pace Samuel A. Burden 58 28 0 17 Oct 2016
Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation Andrew M. Pace Samuel A. Burden 177 5 0 13 Sep 2016
A Hybrid Dynamical Extension of Averaging Avik De Samuel A. Burden D. Koditschek 38 0 0 13 Jul 2016