[Faculty] Fwd: [CSRC-SDSU COLLOQUIUM]: Robust Dynamical Bipedal Locomotion through Nonlinear Control and Optimization

[Jose Castillo]

*DATE:*  Friday, October 3rd, 2014

*TITLE:*  Robust Dynamical Bipedal Locomotion through Nonlinear Control and
Optimization

*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

For future events, please visit our website at:

http://www.csrc.sdsu.edu/colloquium.html

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