Lyapunov Analysis of Rigid Body Systems with Impacts and Friction
Michael Posa ... Mark Tobenkin ... Russ Tedrake ... This work demonstrates how Lyapunov analysis can be ..... lisions due to impacting hard joint limits.
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Stability Analysis and Control of Rigid-Body Systems with Impacts
Michael Posa, Mark Tobenkin, and Russ Tedrake, Member, IEEE ... This work demonstrates how Lyapunov analysis can be .... forces into joint coordinates.
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russell l. tedrake - MIT Computer Science and Artificial Intelligence
Aug 1, 2009 ... Courtesy Joint Appointment, Aeronautics and Astronautics. 2011- ...  Anirudha Majumdar, Mark Tobenkin, and Russ Tedrake. Algebraic ..... Michael Posa (Ph.D. candidate, Electrical Engineering and Computer Science).
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Robust Online Motion Planning with Reachable Sets Anirudha
May 22, 2013 ... A major advantage of the work presented here is that by explicitly taking into ac- ... I would like to thank my advisor, Russ Tedrake, for giving me the ... Tobenkin for writing my first sums-of-squares program for me and ... with the rest of the members of the lab including Mike Posa, ...... compute joint velocities.
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May 16, 2016 ... Michael Posa. Massachusetts Institute of Technology. Collaboration with Mark Tobenkin and Russ Tedrake ... Joint coordinates and velocities.
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