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Feedback Control of Bipedal Locomotion: Theory and Experiments

The fields of control and robotics are working hand-in-hand to development bipedal machines that can realize walking motions with the stability and agility of a human. Dynamic models for bipeds are hybrid nonlinear systems, meaning they contain both continuous and discrete elements, with switching events that are spatially driven by changes in ground contact. This talk will show how model-based feedback control and optimization methods are enhancing the ability to achieve highly dynamic locomotion in bipedal machines. The theory used in the talk will be amply illustrated with graphics and videos of our experiments to make the material accessible to a wide audience.

Type of Seminar:
IfA Seminar
Prof. Jessy W. Grizzle
The University of Michigan in Ann Arbor, Michigan
May 08, 2014   17:15

ML E 12
Contact Person:

Prof. John Lygeros
No downloadable files available.
Biographical Sketch:
Jessy W. Grizzle is a Professor in the Control Systems Laboratory of the Electrical Engineering and Computer Science Department within the College of Engineering at the University of Michigan in Ann Arbor, Michigan. He is a member of the Systems Laboratory and the area of Robotics and Computer Vision.

His primary research area used to be the theory of nonlinear control systems. While he still has strong interest in this subject and feels a sense of community with that body of researchers, his research activities have significantly broadened over time. His work now covers the modeling and control of automotive powertrain systems, and the control of bipedal robots. From 1991-2001, he applied systems and control techniques to improve the operation of plasma-based microelectronics manufacturing equipment.