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1502.01538
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A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems
5 February 2015
Aaron M. Johnson
Samuel A. Burden
D. Koditschek
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Papers citing
"A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems"
33 / 33 papers shown
Discovering Optimal Natural Gaits of Dissipative Systems via Virtual Energy Injection
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166
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19 Nov 2025
Path Integral Control for Hybrid Dynamical Systems
Hongzhe Yu
Diana Frias Franco
Aaron M. Johnson
Yongxin Chen
222
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0
01 Nov 2024
Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems
IEEE Robotics and Automation Letters (RA-L), 2024
J. Joe Payne
James Zhu
Nathan J. Kong
Aaron M. Johnson
215
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
223
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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
291
6
0
19 Sep 2023
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems
Proceedings of the IEEE (Proc. IEEE), 2023
Nathan J. Kong
J. Joe Payne
James Zhu
Aaron M. Johnson
345
27
0
12 Jun 2023
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Michael R. Turski
Joseph Norby
Aaron M. Johnson
252
5
0
11 Apr 2023
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
IEEE International Conference on Robotics and Automation (ICRA), 2023
James Zhu
J. Joe Payne
Aaron M. Johnson
585
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0
01 Apr 2023
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches
IEEE Transactions on robotics (TRO), 2022
Jeeseop Kim
Randall T. Fawcett
Vinay R. Kamidi
Aaron D. Ames
K. Hamed
275
41
0
13 Nov 2022
Adaptive Complexity Model Predictive Control
IEEE Transactions on robotics (TRO), 2022
Joseph Norby
Ardalan Tajbakhsh
Yanhao Yang
Aaron M. Johnson
260
10
0
06 Sep 2022
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots
IEEE Transactions on robotics (TRO), 2022
Nathan J. Kong
Chuanzheng Li
Aaron M. Johnson
331
43
0
11 Jul 2022
Connecting Gaits in Energetically Conservative Legged Systems
IEEE Robotics and Automation Letters (RA-L), 2022
Maximilian Raff
Nelson Rosa
C. D. Remy
175
10
0
25 Feb 2022
An Adaptive Framework for Reliable Trajectory Following in Changing-Contact Robot Manipulation Tasks
Saif Sidhik
Mohan Sridharan
Dirk Ruiken
124
0
0
15 Nov 2021
Poincaré-Hopf theorem for hybrid systems
Matthew D. Kvalheim
144
2
0
17 Aug 2021
Neural Hybrid Automata: Learning Dynamics with Multiple Modes and Stochastic Transitions
Neural 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
593
12
0
08 Jun 2021
Necessary conditions for feedback stabilization and safety
The Journal of Geometric Mechanics (J. Geom. Mech.), 2021
Matthew D. Kvalheim
D. Koditschek
146
13
0
01 Jun 2021
Set-Valued Rigid Body Dynamics for Simultaneous, Inelastic, Frictional Impacts
Mathew Halm
Michael Posa
AI4CE
385
6
0
29 Mar 2021
iLQR for Piecewise-Smooth Hybrid Dynamical Systems
IEEE Conference on Decision and Control (CDC), 2021
Nathan J. Kong
George Council
Aaron M. Johnson
142
24
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
127
1
0
23 Jul 2020
Impact-Aware Task-Space Quadratic-Programming Control
Yuquan Wang
Niels Dehio
Arnaud Tanguy
A. Kheddar
606
29
0
03 Jun 2020
Conley's fundamental theorem for a class of hybrid systems
Matthew D. Kvalheim
Paul Gustafson
D. Koditschek
118
9
0
07 May 2020
Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints
IEEE Robotics and Automation Letters (RA-L), 2020
K. Hamed
Jeeseop Kim
Abhishek Pandala
251
42
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
202
29
0
20 Feb 2020
Formal composition of hybrid systems
Theory and Applications of Categories (TAC), 2019
Jared Culbertson
Paul Gustafson
D. Koditschek
Peter F. Stiller
117
10
0
04 Nov 2019
First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2019
Wen-Loong Ma
K. Hamed
Aaron D. Ames
172
27
0
17 Sep 2019
Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts
Mathew Halm
Michael Posa
254
19
0
04 Feb 2019
Contact-Implicit Trajectory Optimization using Orthogonal Collocation
Amir Patel
Stacey Shield
Saif R. Kazi
Aaron M. Johnson
L. Biegler
306
78
0
17 Sep 2018
Nonsmooth optimal value and policy functions in mechanical systems subject to unilateral constraints
Bora S. Banjanin
Samuel A. Burden
226
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
114
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
797
12
0
02 Oct 2017
Piecewise-differentiable trajectory outcomes in mechanical systems subject to unilateral constraints
Andrew M. Pace
Samuel A. Burden
73
27
0
17 Oct 2016
Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation
Andrew M. Pace
Samuel A. Burden
217
5
0
13 Sep 2016
A Hybrid Dynamical Extension of Averaging
Avik De
Samuel A. Burden
D. Koditschek
51
0
0
13 Jul 2016
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