Added 6 years ago | 00:33:38 | 3465 views
Optimal control has a lot of potential, however its applications to robotics have been limited, partly because the problem is very hard to solve even numerically. In this talk I will summarize a recently-developed formulation of stochast...
Added 6 years ago | 00:46:46 | 6840 views
Designing controllers for legged locomotion requires dealing with complex nonlinear dynamics and non-trivial notions of stability including limit cycles and dynamically stable maneuvers. In this talk I will describe the LQR-Trees algorit...
Added 6 years ago | 00:28:29 | 3273 views
Lower limb prostheses have traditionally been passive devices that lack the ability to generate net power at the joints. This absence of net power generation impairs the ability of passive prosthesis to restore biomechanically healthy fu...
Added 6 years ago | 00:37:55 | 3562 views
Until recently, athletes using Passive Elastic Running Prostheses (PERPS) were clearly at a disadvantage compared to those with fully functional biological legs. The remarkable accomplishments of a few prominent athletes (e.g. Oscar Pist...
Added 6 years ago | 00:34:00 | 5165 views
Stable gaits of passive walking mechanisms often have narrow and strangely shaped regions of attraction, which are difficult both to estimate analytically and to enlarge using feedback from just a few actuators. For instance, linearizati...
Added 6 years ago | 00:34:20 | 6178 views
We have proposed methods for generating energy-efficient dynamic bipedal gait based on passive dynamics. Parametrically excited dynamic bipedal walking is a novel approach to efficient level dynamic walking. In this method, the robot res...
Added 6 years ago | 00:50:43 | 6227 views
Robotic technologies have greatly advanced in recent years, making robotic exoskeletons feasible as real devices instead of being limited to science fiction. However, prototype devices do not perform as well as expected, specifically in ...
Added 6 years ago | 00:56:13 | 8005 views
MABEL is a bipedal testbed at the University of Michigan that was constructed in collaboration with Jonathan Hurst. The robot is planar, with a torso, two legs with revolute knees, and four actuators. Two of its actuators are in series w...
Added 6 years ago | 00:33:35 | 6476 views
This talk presents a hierarchical control framework that enables motion planning for fast and efficient 3D dynamic walkers in a similar manner to what is possible for bipeds using Center of Pressure (CoP) equilibrium constraints. Given a...
Added 6 years ago | 00:07:09 | 11494 views
Speaker: Alex Leavitt, Convergence Culture Consortium (Comparative Media Studies, MIT) & Web Ecology Project. Moderator: Madeleine Clare Elish. Abstract: In his new book, "Show Sold Separately: Promos, Spoilers, and Other Media ...
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