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Robust Control of Bipedal Locomotion: An H-Infinity Approach
August 15 @ 6:00 pm - 8:00 pm
Co-sponsored by: Mike Borrello
The study of mechanical legged locomotion has been motivated by its potential use as means of locomotion in rough terrains, but in particular, the interest arises from diverse sociological and commercial interests, ranging from the desire to replace humans in hazardous occupations (de-mining, nuclear power plant inspection, military interventions, etc.), to the restoration of motion in the disabled. For practical implementation, good mechanical design and good modeling, play a very important role in achieving good performance. However, in real world applications bipedal robots are subject to many sources of uncertainty during walking; these could include a push from a human, an unexpected gust of wind, geometric perturbations of terrain height, or parametric uncertainties of non-modeled friction forces. For these reasons, the design of feedback control systems, capable of attenuating the effect of these uncertainties, is critical to achieve the desired walking gait.
This presentation deals with the applicability of the H infinity control technique to two different humanoid robots: the 32 degrees-of-freedom biped robot ROMEO, of Aldebaran Robotics; and the 2D planar biped RABBIT, housed in LAG, the Automatic Control Laboratory of Grenoble. Results, challenges, and state of the art are discussed.
Speaker(s): Dr. Oscar Montano,
6:00-6:30 Refreshments, networking
Adjourn by 8:00 pm.
10401 Roselle Street
San Diego, California