Now showing items 1-2 of 2
Mixed-Integer Convex Formulations for Planning Nonlinear Dynamics in Complex Environments
(Georgia Institute of Technology, 2016-10-19)
Humanoid robots walking across intermittent terrain, robotic arms grasping multifaceted objects, or UAVs darting left or right around a tree — many of the dynamics and control problems we face today have an inherently ...
Algebraic Methods for Nonlinear Dynamics and Control
(Georgia Institute of Technology, 2013-10-23)
Some years ago, experiments with passive dynamic walking convinced me that finding efficient algorithms to reason about the nonlinear dynamics of our machines would be the key to turning a lumbering humanoid into a graceful ...