no code implementations • 12 Apr 2024 • Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer
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.
no code implementations • 25 Jan 2024 • Yannik P. Wotte, Federico Califano, Stefano Stramigioli
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.