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Foundations of Robotics Seminar, November 17, 2010
Time
and Place | Seminar Abstract
Approaching high-mobility maneuvers in legged and other hybrid dynamic systems.
Hartmut Geyer
Robotics Institute
CMU
NSH 1507
Talk 4:00 pm
Most studies on the dynamics of legged locomotion focus on gait stability. By contrast, maneuverability is seldom explored although it forms an essential part of life on legs. Without it, an antelope cannot escape a cheetah, nor a cheetah chase an antelope. How can maneuvers be controlled and implemented on dynamic legged robots? I will explore this question and suggest a general approach to the control of maneuvers that exploits the cyclic nature of legged locomotion. The approach is not bound to legged systems; it applies to any system that can be modeled as cyclic and hybrid dynamic. I do not have specific results, but rather hope to stimulate a discussion about this approach and alternatives that will help us to transition from stabilizing locomotion to controlling high-mobility maneuvers in cluttered, three-dimensional environments.
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.