ESE PhD Thesis Defense: “Control of Multi-Contact Systems via Local Hybrid Models”
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Room 35, Singh Center for Nanotechnology
3205 Walnut Street, Philadelphia, PA, United States
For many important tasks such as manipulation and locomotion, robots need to make and break contact with their environment. Although such multi-contact systems are common, they pose a significant challenge when it comes to analysis and control. This thesis exploits the local hybrid structure of such problems and presents scalable and fast algorithmic solutions. First, […]

