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Foundations of Robotics
Seminar, May 11, 2006
Time
and Place | Seminar Abstract | Speaker
Biography | Presentation Slides | Speaker
Appointments
Stability and Control
for a Class of Dynamic Legged Climbers
Kevin Oishi
Smith Hall 100
Refreshments 4:45 pm
Talk 5:00 pm
Dynamic legged climbing is an interesting
and largely unexplored problem. While it is understood that the LLS and
SLIP models provide viable strategies for specifying and controlling the behavior of dynamic running on level ground, it is unclear
if or how these ideas could be "lifted" to model dynamic locomotion
on a slope or vertical terrain.
In this talk I will present low-dimensional generalizations of the LLS and SLIP
templates capable of adding or removing energy to enable ascending and
descending. I will discuss stability properties, and present control
strategies for stable dynamic climbing with little or no sensing.
Analytical analysis will be provided where possible, and approximate
models, and empirical data will be presented where analytic analysis is
intractable.
This seminar is presented in partial fulfillment for
the requirements of the degree of Master of Science in Robotics.
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Speaker Appointments |
For appointments, please contact Kevin Oishi (kevin.oishi@gmail.com)
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.