Search Results for author: Michael Posa

Found 4 papers, 3 papers with code

Learning Linear Complementarity Systems

no code implementations25 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).

ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations

1 code implementation23 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.

Stabilization of Complementarity Systems via Contact-Aware Controllers

2 code implementations3 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

Contact-Aware Controller Design for Complementarity Systems

2 code implementations24 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

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