Jarvis A. Schultz

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The underactuated system under consideration is a magnetically-suspended, differential drive robot utilizing a winch system to articulate a suspended mass. A dynamic model of the system is first constructed, and then a nonlinear, infinite-dimensional optimization algorithm is presented. The system model uses the principles of kinematic reduction to produce(More)
Variational integrators are well-suited for simulation of mechanical systems because they preserve mechanical quantities about a system such as momentum, or its change if external forcing is involved, and holonomic constraints. While they are not energy-preserving they do exhibit long-time stable energy behavior. However, variational integrators often(More)
Sequential action control (SAC) is a recently developed algorithm for optimal control of nonlinear systems. Previous work by the authors demonstrates that SAC performs well on several benchmark control problems. This work demonstrates applicability of SAC to a variety of robotic systems; we show that SAC can also be easily applied to hybrid systems without(More)
This paper presents the details and experimental results from an implementation of real-time trajectory generation and parameter estimation of a dynamic model using the Baxter Research Robot from Rethink Robotics. Trajectory generation is based on the maximization of Fisher information in real-time and closed-loop using a form of Sequential Action Control.(More)
We present a receding horizon control scheme that utilizes a discrete time version of a nonlinear, iterative, projection-based optimization routine. The routine utilizes a projection operator to ensure feasible system trajectories at each iteration of the optimization resulting in valid control signals even when constraints on computation time prevent full(More)
We present a shared-control framework predicated on a measure of trust in the operator, that is calculated automatically based on the quality of the interactions between a human and autonomous system. This measure of trust is built upon a control-theoretic foundation that rewards stable operation of the system to give more trusted users additional control(More)
Estimation of model parameters in a dynamic system can be significantly improved with the choice of experimental trajectory. For general nonlinear dynamic systems, finding globally “best” trajectories is typically not feasible; however, given an initial estimate of the model parameters and an initial trajectory, we present a continuous-time(More)
Low bandwidth control and estimation for nonlinear systems presents a challenging problem that is often encountered when dealing with implementation on an embedded platform. Discrete mechanics techniques for system modeling are well-suited to low-bandwidth applications because they posses desirable numerical properties over a large range of timesteps(More)