no code implementations • 25 Dec 2021 • Wanxin Jin, Alp Aydinoglu, Mathew Halm, Michael Posa
This paper investigates the learning, or system identification, of a class of piecewise-affine dynamical systems known as linear complementarity systems (LCSs).
1 code implementation • 23 Sep 2020 • Samuel Pfrommer, Mathew Halm, Michael Posa
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior.
