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AgileandDynamicBipedalLocomotion:TakingontheWaveField
ABSTRACT:IsitgreatfortuneoracursetodoleggedroboticsonaUniversitycampusthathasMayaLin’searthensculpture,TheWaveField?Cometothetalkandfindout!Wewilldiscussourworkonmodel-basedfeedbackcontrolandoptimizationforhighlydynamiclocomotioninbipedalrobots.Thepresentationwillevolveinstages.We’llstartwithfeedbackcontrollersthatinducelocallyexponentiallystableperiodicwalkinggaitsandillustratearangeofaperiodicbehaviorthatcanbeachievedwithsuchcontrollers.Then,robustnesstoterrainvariationwillbeexplicitlybroughtintothedesignproblem,leadingtogaitsthatcanhandlewalkingoutdoorsongrass,asphaltand2to4cmthickplankstossedrandomlyaboutthelaboratory.Next,itisarguedthatundermoreextremeperturbations,thesegaitstypicallyfailduetogroundreactionforceconstraintviolations,andameanstoaddressthiswithalibraryofgaitsandinterpolationwillbediscussedandillustrated.Atthisstage,thesimplerpartsoftheUniversityofMichigan’sWaveFieldcanfinallybetackled.ThelastpartofthetalkwilldiscusspreliminaryworkonusingSupervisedMachineLearningtoapproximateanexplicitMPCcontroller.Whencombinedwithrobotvision,wehopethiswillallowthefullcomplexityoftheWaveFieldtobeconquered.InanycaseJovanottiassuresus,“Nonc'èscommessapiùpersadiquellachenongiocherò”.Iforonewillkeeptrying!
BIO:JessyW.Grizzleisa(full)ProfessorintheControlSystemsLaboratoryoftheElectricalEngineeringandComputerScienceDepartmentwithintheCollegeofEngineeringatTheUniversityofMichiganinAnnArbor,Michigan.HeistheDirectorofMichiganRoboticsandamemberoftheECESystemsLaboratoryandtheRoboticsandComputerVisionArea.HehasacourtesyappointmentinMechancialEngineering.TheactivityatMichiganincontrolsystemsisveryinterdisciplinaryandmoveseasilyacrosstraditionaldepartmentalboundaries.WemaintainaveryactiveCollegeofEngineeringControlSeminarSeries.AdditionalEECSControlLabinformationisavailablehere.Formorefunstuff,seetheEECSYouTubeHomePage.
JessyGrizzleUniversityofMichigan
DepartmentofElectricalEngineeringandComputerScience
Friday,September15,2017
3:30–4:30pm•1500EECS
Sponsoredby:Bosch,Ford,andToyota