TITLE:

Robust Dynamical Bipedal Locomotion through Nonlinear

Control and Optimization

DATE:

Friday, October 3rd 2014

TIME:

3:30 PM

LOCATION:

GMCS 214

SPEAKER:

Dr. Kaveh Akbari Hamed. SDSU Mechanical Engineering

ABSTRACT:

Over the past few years there is an accelerated effort to design emergency response robots and to develop

robots with human traits. Legged locomotion is extremely important in this advancement. We are on the verge of

a new revolution in robotic legged locomotion. In addition, important medical applications of legged locomotion

research include lower-limb prostheses, exoskeletons, and devices for the rehabilitation of walking and balance after

injury. The feedback control of dynamical legged locomotion is complicated by (i) the hybrid nature of walking

and running, (ii) nonlinear dynamics, and (iii) underactuation. Traditional work in the literature of legged robots

emphasizes quasi-static stability and flat-footed walking based on the Zero Moment Point. The resultant walking

motions are neither dynamic, nor agile, nor efficient. This talk presents systematic feedback control algorithms

based on nonlinear and hybrid control to handle the robust stabilization of dynamic walking and running gaits

for legged robots and more generally for hybrid models of these robots. We present systematic ways to design

continuous-time and event-based controllers based on nonlinear and geometric control, Poincaré maps, linear and

bilinear matrix inequalities, and robust optimal control. Preliminary experimental results will also be presented on a

3D bipedal robot.

HOST:

Dr. Jose Castillo

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