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So-Cal Control Workshop

Hierarchical Robotic Control

Research Overview

Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice

Safety-Critical Controller Synthesis with Reduced-Order Models

Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bézier Polytopes

Bezier Reachable Polytopes

Efficient Certificates for Robust Motion Planning with Layered Architectures

Robust Agility via Learned Zero Dynamics Policies

Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies

Approximating Regions of Attraction via Flow-Control Barrier Functions and Constrained Polytope Expansion

Layered Control Systems Operating on Multiple Clocks

Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors

Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization

Why is TSO(n) the set of skew symmetric matrices?

Constructing Lie groups and Lie algebras

Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions

Planar Bipedal Locomotion with Nonlinear Model Predictive Control

Online Gait Generation using Whole-Body Dynamics

Exosuit Support Systems and Methods

A Primer on Multi-Rate Control

From the Nonlinear Perspective

Do Discretization and Linearization Commute?

Yes, up to first order (at least)

Learning Controller Gains on Bipedal Walking Robots via User Preferences

Lyapunov's Method

A Brief Exposition on Stability

Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies

Multi-Rate Planning and Control of Uncertain Nonlinear Systems

Model Predictive Control and Control Lyapunov Functions

Interactive multi-modal motion planning with Branch Model Predictive Control

The Role of Abstraction

Clark

Brouwer's fixed-point theorem

An Application of Homology and Category Theory

Algebraic Topology

Notes on Homology and Cohomology

Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion

Informative Videos

That have shaped my perspective

Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots

Hiking

List of Hikes Done

Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots

Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety

Mineral Hunting

List of mineral hunting spots

A Machine Learning Strategy for Locomotion Classification and Parameter Estimation Using Fusion of Wearable Sensors

Coupled control Lyapunov functions for interconnected systems, with application to quadrupedal locomotion

Theory and Experiments

Popper

Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots

Model Uncertainty and Machine Learning

With Control Barrier Functions

Automated gap-filling for marker-based biomechanical motion capture data

The Pendulum

The Most Beloved Nonlinear System

Passive Dynamic Balancing and Walking in Actuated Environments

Fast Trajectory Generation for Quadrupedal Walking on Slopes

Dynamic Walking 2020

Double Fed Sweet Levain Bread

pg. 182

Personal Finance

Baruch

Lie Theory

Useful Websites

Code Snippets

That Have Come in Handy

Stochastic Least Squares

An Application of Modules

Pain de Campagne

pg. 140

75% Whole Wheat Levain

pg. 144

Why Bread is so Sensational

Overnight Coutry Blonde

pg. 168

CDS 232

Nonlinear Dynamics Final Project

Sourdough Starter

Mathematical Terminology

Coupled Control Systems: Periodic Orbit Generation with Application to Quadrupedal Locomotion

Supporting Hyperplane Theorem

Mathematical Optimization

On Liberty

John Stuart Mill

Papers To Read

Papers Read

2019

Triathlons

List of Triathlons Done

Ski Tours

List of Ski Tours Done

Running

List of Runs Done

Climbing

List of Climbing Spots Visited

Biking

List of Bikes Done

ACM 113

Mathematical Optimization

CDS 131

Linear Control Theory

CMS 107

Linear Analysis

Euler-Largrange as Geodesics

Geometric Control Theory

Dabblings with Differential Geometry

Holiday Reading

Kombucha

Symbiotic Colony Of Bacteria and Yeast

Design and Comparative Analysis of 1D Hopping Robots

Greek Yogurt

Lactofermentation

Wilson via Echo Mountain

Sampling tool concepts for Enceladus lander in-situ analysis

2018

Movies to Watch

Optimal Appartment Locator

A script to find the optimal appartment location

Gaia GPS Plotting

Converting location and altitude data to an interactive surface

Mission Trails Regional Park

5 Peaks

Minimalism

A script to turn images minimalistic

Machining

Parts Manufactured for Various Research Projects

N-Pendulum

A method of computing the equations of motion for an n-pendulum

CV 4476

Final Deliverable for our CS 4476 Computer Vision Class

Seqouia National Park

Fall 2017

St. George, UT -- Rocky Mountain National Park, CO

2016

Grand Canyon

Rim - Rim - Rim

2015

Catalina