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03/04/2023
Technical Report on: Tripedal Dynamic Gaits for a Quadruped Robot
A vast number of applications for legged robots entail tasks in complex,...
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09/30/2022
Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped
This technical report provides a more thorough treatment of the proofs a...
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02/03/2022
Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments
We describe a task and motion planning architecture for highly dynamic s...
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08/17/2021
Hybrid dynamical type theories for navigation
We present a hybrid dynamical type theory equipped with useful primitive...
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06/01/2021
Necessary conditions for feedback stabilization and safety
Brockett's necessary condition yields a test to determine whether a syst...
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11/01/2020
Technical Report: Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments
Complex manipulation tasks, such as rearrangement planning of numerous o...
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11/01/2020
Technical Report: A New Hopping Controller for Highly Dynamical Bipeds
We present angle of attack control, a novel control strategy for a hip e...
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05/07/2020
Conley's fundamental theorem for a class of hybrid systems
We establish versions of Conley's (i) fundamental theorem and (ii) decom...
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02/25/2020
Technical Report: Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback
This paper presents a reactive planning system that enriches the topolog...
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02/20/2020
Reactive Navigation in Partially Familiar Planar Environments Using Semantic Perceptual Feedback
This paper solves the planar navigation problem by recourse to an online...
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11/04/2019
Formal composition of hybrid systems
We develop a compositional framework for formal synthesis of hybrid syst...
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10/29/2019
A Tunably Compliant Origami Mechanism for Dynamically Dexterous Robots
We present an approach to overcoming challenges in dynamical dexterity f...
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12/20/2018
Iterated Belief Revision Under Resource Constraints: Logic as Geometry
We propose a variant of iterated belief revision designed for settings w...
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07/23/2018
Technical Report: Reactive Navigation in Partially Known Non-Convex Environments
This paper presents a provably correct method for robot navigation in 2D...
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02/21/2015
Universal Memory Architectures for Autonomous Machines
We propose a self-organizing memory architecture for perceptual experien...
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02/05/2015
A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and ...
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04/13/2014