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03/29/2021
Set-Valued Rigid Body Dynamics for Simultaneous Frictional Impact
Robotic manipulation and locomotion often entail nearly-simultaneous col...
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03/29/2021
Fundamental Challenges in Deep Learning for Stiff Contact Dynamics
Frictional contact has been extensively studied as the core underlying b...
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03/11/2021
Impact Invariant Control with Applications to Bipedal Locomotion
When legged robots impact their environment, they undergo large changes ...
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11/15/2020
Stability Analysis of Complementarity Systems with Neural Network Controllers
Complementarity problems, a class of mathematical optimization problems ...
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09/23/2020
ContactNets: Learning of Discontinuous Contact Dynamics with Smooth, Implicit Representations
Common methods for learning robot dynamics assume motion is continuous, ...
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08/03/2020
Stabilization of Complementarity Systems via Contact-Aware Controllers
We propose a framework for provably stable local control of multi-contac...
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09/24/2019
Contact-Aware Controller Design for Complementarity Systems
While many robotic tasks, like manipulation and locomotion, are fundamen...
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09/23/2019
Optimal Reduced-order Modeling of Bipedal Locomotion
State-of-the-art approaches to legged locomotion are widely dependent on...
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02/09/2019
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming
Quasi-static models of robotic motion with frictional contact provide a ...
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02/04/2019