Imagen de Portada

A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling

Fuente: arXiv

Guardado en:

Detalles Bibliográficos
Autores principales:	Singh, Aman, Mishra, Aastha, Kapa, Deepak, Joshi, Suryank, Kolathaya, Shishir
Formato:	Preprint
Publicado:	2025
Materias:	Robotics
Acceso en línea:	Acceder al recurso
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

Ejemplares similares

A Co-Design Framework for High-Performance Jumping of a Five-Bar Monoped with Actuator Optimization
por: Mishra, Aastha, et al.
Publicado: (2026)

COMPAct: Computational Optimization and Automated Modular design of Planetary Actuators
por: Singh, Aman, et al.
Publicado: (2025)

Comparison between External and Internal Single Stage Planetary gearbox actuators for legged robots
por: Singh, Aman, et al.
Publicado: (2025)

DTEA: A Dual-Topology Elastic Actuator Enabling Real-Time Switching Between Series and Parallel Compliance
por: Ramesh, Vishal, et al.
Publicado: (2026)

Safe and Performant Controller Synthesis using Gradient-based Model Predictive Control and Control Barrier Functions
por: Singh, Aditya, et al.
Publicado: (2025)

A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis
por: Singh, Aman, et al.
Publicado: (2025)

VIP-Loco: A Visually Guided Infinite Horizon Planning Framework for Legged Locomotion
por: Shirwatkar, Aditya, et al.
Publicado: (2026)

Discrete time model predictive control for humanoid walking with step adjustment
por: Joshi, Vishnu, et al.
Publicado: (2024)

MAD-PINN: A Decentralized Physics-Informed Machine Learning Framework for Safe and Optimal Multi-Agent Control
por: Tayal, Manan, et al.
Publicado: (2025)

Fixed time convergence guarantees for Higher Order Control Barrier Functions
por: K, Janani S, et al.
Publicado: (2025)

Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)
por: Tayal, Manan, et al.
Publicado: (2023)

Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments
por: Tayal, Manan, et al.
Publicado: (2023)

A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems
por: Tayal, Manan, et al.
Publicado: (2025)

Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach
por: Tayal, Manan, et al.
Publicado: (2023)

Safety Certification in the Latent space using Control Barrier Functions and World Models
por: Anand, Mehul, et al.
Publicado: (2025)

MULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion
por: Kurva, Vamshi Kumar, et al.
Publicado: (2025)

Energy-Efficient Quadruped Locomotion with Compliant Feet
por: Pal, Pramod, et al.
Publicado: (2026)

PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion
por: Shirwatkar, Aditya, et al.
Publicado: (2024)

Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates
por: Tayal, Manan, et al.
Publicado: (2024)

CP-NCBF: A Conformal Prediction-based Approach to Synthesize Verified Neural Control Barrier Functions
por: Tayal, Manan, et al.
Publicado: (2025)

Real-Time Gait Adaptation for Quadrupeds using Model Predictive Control and Reinforcement Learning
por: Kotecha, Prakrut, et al.
Publicado: (2025)

Investigating Lagrangian Neural Networks for Infinite Horizon Planning in Quadrupedal Locomotion
por: Kotecha, Prakrut, et al.
Publicado: (2025)

Data-Driven Physics Embedded Dynamics with Predictive Control and Reinforcement Learning for Quadrupeds
por: Kotecha, Prakrut, et al.
Publicado: (2026)

Neural Control Barrier Functions from Physics Informed Neural Networks
por: Agrawal, Shreenabh, et al.
Publicado: (2025)

BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains
por: Mothish, GVS, et al.
Publicado: (2024)

Signal Temporal Logic Compliant Co-design of Planning and Control
por: Juvvi, Manas Sashank, et al.
Publicado: (2025)

STRIDE: Structured Lagrangian and Stochastic Residual Dynamics via Flow Matching
por: Kotecha, Prakrut, et al.
Publicado: (2026)

V-OCBF: Learning Safety Filters from Offline Data via Value-Guided Offline Control Barrier Functions
por: Tayal, Mumuksh, et al.
Publicado: (2025)

Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
por: Albracht, Maximilian, et al.
Publicado: (2024)

Learning a Formally Verified Control Barrier Function in Stochastic Environment
por: Tayal, Manan, et al.
Publicado: (2024)

Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions
por: Agarwal, Aryan, et al.
Publicado: (2024)

A Collision Cone Approach for Control Barrier Functions
por: Tayal, Manan, et al.
Publicado: (2024)

Stochastic Neural Control Barrier Functions
por: Zhang, Hongchao, et al.
Publicado: (2025)

Constraint-Aware Discrete-Time PID Gain Optimization for Robotic Joint Control Under Actuator Saturation
por: Mishra, Ojasva, et al.
Publicado: (2026)

Barrier Functions Inspired Reward Shaping for Reinforcement Learning
por: Nilaksh, Nilaksh, et al.
Publicado: (2024)

GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets
por: PP, Narayanan, et al.
Publicado: (2025)

A Survey on Robotic Prosthetics: Neuroprosthetics, Soft Actuators, and Control Strategies
por: Jyothish, Kumar J., et al.
Publicado: (2024)

Revisit Anything: Visual Place Recognition via Image Segment Retrieval
por: Garg, Kartik, et al.
Publicado: (2024)

Graphite: A GPU-Accelerated Mixed-Precision Graph Optimization Framework
por: Gopinath, Shishir, et al.
Publicado: (2025)

Generative Design of Multimodal Soft Pneumatic Actuators
por: Ghosh, Saswath, et al.
Publicado: (2024)