Studies on energetically efficient biped locomotion
Professor of Advanced Robotics
University of Twente
Time and Place
Energy-efficient control of bipedal walking robots requires both minimization of mechanical energy losses (often mainly due to impacts) and the use of natural oscillations in a mechanism to minimize actuator torques (as shown by research on passive dynamic walking).
In this seminar, we discuss how these aspects can be analyzed and influenced using mathematical models of the dynamics, as opposed to using only engineering intuition and experimental results. Then we examine the control problem of curve-tracking for fully-actuated mechanical systems, applied to walking robots. First, we discuss earlier results on curve-tracking using a change of coordinates to split the kinetic energy in a desired and an undesired part and after we apply and extend these results to the case of a compass-gait biped, and illustrate the performance in a simulation.
In conclusion the first working prototype called Dribble will be presented.
Stefano Stramigioli was born in Bologna, Italy in 1968, he received the M.Sc. with honors (cum laude) in 1992 from the University of Bologna and the PhD with honors (cum laude) in 1998 from the Delft University of Technology. During this last period he obtained both the DISC and Shell scholarships to spend few months at MIT working with Prof. Neville Hogan. Between the two degrees he has been working as a researcher at the University of Twente (NL) and has started his enterprise with which he generated two patents. Since 1998 he has been faculty member and he is currently full professor in Advanced Robotics. He is working at the IMPACT institute of the University of Twente where he leads the Strategic Research Theme on Smart Devices and Materials. He is an officer and Senior Member of IEEE. He will lead as incoming Editor in Chief the Robotics and Automation Magazine starting from 2006 and he is strongly involved in the IEEE Robotics and Automation society in many committees. He is coordinator of the European project Geoplex, a 3.5M Euros project on Geometric Network Modeling and Control of Complex Physical Systems. He currently supervises seven Ph.D. students in mechatronics and robotics. He has been teaching modeling, control and robotics and has won a teaching award besides being nominated twice. His interests lie in Physical Modeling and Control, MEMS and Geometrical Robotics, Walking Machines, Haptics and Tele-manipulation.
For appointments, please contact Peggy Martin (email@example.com).