Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical
Systems

Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems

12 June 2023

Aaron M. Johnson

Papers citing "Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems"

11 / 11 papers shown

Title
Behavior Synthesis via Contact-Aware Fisher Information Maximization Hrishikesh Sathyanarayan Ian Abraham 2 0 0 18 May 2025
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo John Z. Zhang Taylor A. Howell Zeji Yi Chaoyi Pan Guanya Shi Guannan Qu Tom Erez Yuval Tassa Zachary Manchester 62 1 0 06 Mar 2025
Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients Hajun Kim Dongyun Kang Min-Gyu Kim Gijeong Kim Hae-Won Park 68 1 0 24 Feb 2025
Path Integral Control for Hybrid Dynamical Systems Hongzhe Yu Diana Frias Franco Aaron M. Johnson Yongxin Chen 31 0 0 01 Nov 2024
Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems J. Joe Payne James Zhu Nathan J. Kong Aaron M. Johnson 34 0 0 25 Oct 2024
Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion Maegan Tucker Kejun Li Aaron D. Ames 30 1 0 09 Oct 2023
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots James Zhu J. Joe Payne Aaron M. Johnson 18 4 0 01 Apr 2023
Impact-Invariant Control: Maximizing Control Authority During Impacts William Yang Michael Posa 16 4 0 01 Mar 2023
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization Maegan Tucker Noel Csomay-Shanklin Aaron D. Ames 18 3 0 21 Sep 2022
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces Yuan Gao C. Yuan Yan Gu 39 19 0 25 Jan 2022
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits James Zhu Nathan J. Kong George Council Aaron M. Johnson 21 7 0 03 Oct 2021