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Foundations of Robotics
Seminar, March 22, 2006
Time
and Place | Seminar Abstract | Speaker
Biography | Presentation Slides | Speaker
Appointments
Gait Regulation and Feedback on a Robotic
Climbing Hexapod
Clark Haynes
Newell Simon Hall 1507
Refreshments 4:45 pm
Talk 5:00 pm
In this talk, I will propose a novel method
of applying feedback control for legged robots, by directly modifying
parameters of a robot's gait pattern, mixing both feedforward
and feedback control strategies. Gaits are a popular means of producing
stable locomotion on legged robots, through the use of cyclic feedforward motion patterns, while requiring little to no
sensory information. We are interested, however, in incorporating
feedback with these systems, and attempt to use salient key parameters, found
in gaits, to produce behaviors that span the space of
possible gaits.
Using these gait parameters, we develop two separate control systems for use on
a climbing hexapod. One system attempts to balance, while climbing, the
ground reaction forces amongst the feet of the robot, while another system
monitors the robot's current gait, attempting to ensure locomotive stability.
These concepts are applied to the robotic hexapod, RiSE, which, through
the use of compliant microspines on its feet, is
capable of climbing hard vertical textured surfaces, such as stucco.
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Speaker Appointments |
For appointments, please contact Clark
Haynes (gch@cs.cmu.edu)
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.