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dc.contributor.authorPosa, Michael
dc.contributor.authorTobenkin, Mark
dc.contributor.authorTedrake, Russ
dc.date.accessioned2020-03-31T19:00:51Z
dc.date.available2020-03-31T19:00:51Z
dc.date.issued2016-06
dc.date.submitted2015-07
dc.identifier.issn0018-9286
dc.identifier.issn1558-2523
dc.identifier.urihttps://hdl.handle.net/1721.1/124463
dc.description.abstractMany critical tasks in robotics, such as locomotion or manipulation, involve collisions between a rigid body and the environment or between multiple bodies. Methods based on sums-of-squares (SOS) for numerical computation of Lyapunov certificates are a powerful tool for analyzing the stability of continuous nonlinear systems, and can additionally be used to automatically synthesize stabilizing feedback controllers. Here, we present a method for applying sums-of-squares verification to rigid bodies with Coulomb friction undergoing discontinuous, inelastic impact events. The proposed algorithm explicitly generates Lyapunov certificates for stability, positive invariance, and safety over admissible (non-penetrating) states and contact forces. We leverage the complementarity formulation of contact, which naturally generates the semialgebraic constraints that define this admissible region. The approach is demonstrated on multiple robotics examples, including simple models of a walking robot, a perching aircraft, and control design of a balancing robot. � 2015 IEEE.en_US
dc.description.sponsorshipNational Science Foundation (U.S.) (Contract IIS-1161679)en_US
dc.description.sponsorshipUnited States. Defense Advanced Research Projects Agency (BAA-10-65-M3-FP-024)en_US
dc.description.sponsorshipRolf Locher Graduate Fellowshipen_US
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/TAC.2015.2459151en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceMIT web domainen_US
dc.titleStability Analysis and Control of Rigid-Body Systems with Impacts and Frictionen_US
dc.typeArticleen_US
dc.identifier.citationPosa, Michael, et al. “Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction.” IEEE Transactions on Automatic Control 61, 6, (June 2016): pp. 1423–37.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.relation.journalIEEE Transactions on Automatic Controlen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dc.date.updated2019-07-11T13:15:40Z
dspace.date.submission2019-07-11T13:15:41Z
mit.journal.volume61en_US
mit.journal.issue6en_US


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