Search Results for author:
Found 2 papers, 0 papers with code
Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes
We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases.
Optimal Potential Shaping on SE(3) via Neural ODEs on Lie Groups
The optimal control problem is phrased as an optimization of a neural ODE on the Lie group SE(3), and the controller is iteratively optimized.
Cannot find the paper you are looking for? You can
Submit a new open access paper.
