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).
2 code implementations • 3 Aug 2020 • Alp Aydinoglu, Victor M. Preciado, Michael Posa
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics.
Robotics
2 code implementations • 24 Sep 2019 • Alp Aydinoglu, Victor M. Preciado, Michael Posa
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion.
Robotics