Deep Learning

General hybrid model predictive control algorithm for systems that make and break contact with their environment
Related Publications:
Real-Time Multi-Contact Model Predictive Control via ADMM (ICRA 2022)
(Outstanding Dynamics and Control Paper Finalist)

Framework for provably stable local control of multi-contact robotic systems, directly utilizing force measurements
Related Publications:
Stabilization of Complementarity Systems via Contact-Aware Controllers (TRO 2021)
Contact-Aware Controller Design for Complementarity Systems (ICRA 2020)

Stability verification of complementarity systems with neural network controllers, drawing connections between non-smooth mechanics and ReLU structure
Related Publications:
S. Analysis of Complementarity Systems with Neural Network Controllers (HSCC 2021)