Added over 6 years ago | 00:33:38 | 3688 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 over 6 years ago | 00:46:46 | 7161 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 over 6 years ago | 00:28:29 | 3700 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 over 6 years ago | 00:37:55 | 3776 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 over 6 years ago | 00:34:00 | 5484 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 over 6 years ago | 00:34:20 | 6487 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 over 6 years ago | 00:50:43 | 6625 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 over 6 years ago | 00:56:13 | 8341 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 over 6 years ago | 00:33:35 | 6782 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...
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