Now showing items 1-7 of 7
Nonholonomic Virtual Constraints and Gait Optimization for Robust Robot Walking Control.
(2016)
Bipedal locomotion is well suited for mobile robotics because it promises to allow robots to traverse difficult terrain and work effectively in man-made environments. Despite this inherent advantage, however, no existing ...
Symmetry Method for Limit Cycle Walking of Legged Robots.
(2016)
Dynamic steady-state walking or running gaits for legged robots correspond to periodic orbits in the dynamic model. The common method for obtaining such periodic orbits is conducting a numerical search for fixed points of ...
Learning, Inference, and Unmixing of Weak, Structured Signals in Noise
(2020)
In this thesis, we study two methods that can be used to learn, infer, and unmix weak, structured signals in noise: the Dynamic Mode Decomposition algorithm and the sparse Principal Component Analysis problem. Both problems ...
Correct-by-Construction Control Adaptation against Sensing, Model, and Information Uncertainty
(2022)
The theory of formal methods had a profound effect on computer science. By providing tools that can verify a program’s correctness or generate software that is “correct-by-construction,” Formal Methods made it much easier ...
Autonomous Scene Understanding, Motion Planning, and Task Execution for Geometrically Adaptive Robotized Construction Work
(2019)
The construction industry suffers from such problems as high cost, poor quality, prolonged duration, and substandard safety. Robots have the potential to help alleviate such problems by becoming construction co-workers, ...
Non-Asymptotic Adaptive Control of Linear-Quadratic Systems
(2017)
Optimal control for the canonical model of systems with linear dynamics and quadratic operating costs (known as LQ systems) is a well-studied problem in the stochastic control literature. When the true system dynamics are ...
Efficient Algorithms for Light Transmission, Focusing and Scattering Matrix Retrieval in Highly Diffusive 3D Random Media
(2018)
Wavefront shaping provides an increasingly appealing avenue for imaging and other applications that require controlling electromagnetic waves passing through complex and disordered media. Indeed, these techniques allow ...