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Control Strategies for Locomotion - What can we learn from Biology

In many mobile systems (vehicles, walking machines) a high speed is desired. However, in most legged robots the maximum speed is clearly limited due to the high sensory and control demands (e.g. due to high impact forces and shorter contact times). Our daily experience contradicts this observation. We can run quickly with ease even in irregular terrain. This asks for an analysis on how biological systems deal with such locomotor requirements keeping the control effort in a manageable size. In a series of largely simplified mechanical and neuro-mechanical models, we address the interplay between leg design, actuation and control for stable and fast locomotion. The model predictions are compared to experimental data and could help to design fast and robust legged robots.

Type of Seminar:
Public Seminar
Dr. Andr Seyfarth
ParaCare Lab * Forchstrasse 340 * CH-8008 Zurich * Switzerland
Apr 16, 2003   17:15

ETH Zentrum, Gloriastrasse 35, 8006 Zurich, Building ETZ, Room E6
Contact Person:

Prof. M. Morari
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Biographical Sketch:
1989-1995 study of physics in Jena (D), Berlin (D) and Dijon (F) 1995-2000 PhD at Biomechanics Group in Jena (Prof. Blickhan) and Leiden (Prof. van Leeuwen, NL) since 2001 Emmy Noether scholar (post doc excellence programme of the German Science Foundation) 2001-2002 visit at the MIT LegLab in Boston, USA since 2002 visiting scientist at the ParaLab at Balgrist Hospital, Zurich Research focus: animal and human locomotion, application to sport science, biology, clinical research, and robotics.