Research

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

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

Learning Controller Gains on Bipedal Walking Robots via User Preferences

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

Publications

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

Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots

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

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

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

Passive Dynamic Balancing and Walking in Actuated Environments

Fast Trajectory Generation for Quadrupedal Walking on Slopes

Dynamic Walking 2020

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

Design and Comparative Analysis of 1D Hopping Robots

Sampling tool concepts for Enceladus lander in-situ analysis

Machining

Parts Manufactured for Various Research Projects