4 accepted papers
Safe navigation of cluttered environments is a critical challenge in robotics. It is typically approached by separating the planning and tracking problems, with planning executed on a reduced order model to generate reference trajectories, and control techniques used to track these trajectories on t
The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be both kinematically feasible (i.e., collision free) and dynamically feasible (i.e., satisfy the underlying system dynamic
We study the design of robust and agile controllers for hybrid underactuated systems. Our approach breaks down the task of creating a stabilizing controller into: 1) learning a mapping that is invariant under optimal control, and 2) driving the actuated coordinates to the output of that mapping. Thi…
Dynamically altering the parameters for assistance in a lower limb prosthesis is a challenge that depends directly on the ability to estimate gait parameters. Machine learning algorithms present an opportunity to develop methods for continuously determining walking speed in different conditions. Cur