iFundamentals of Walking and Running: From Animal Experiments to Robot
Demonstrations
Monday, April 1, 2013 - 4:00pm - 4:50pm
KEC 1001
Jonathan Hurst
Assistant Professor
Mechanical Engineering
Oregon State University
Abstract:
Legged locomotion is a high-dimensional, highly dynamic, self-stable system
that is comprised of passive elements, such as springs, and active control from
sensors and computing. Animals, our best example of this dynamical system, are
able to negotiate terrain that varies widely in height as well as firmness,
with excellent energy economy. Robots cannot yet approach animal performance,
and we contend that this lack of ability by robots is a result of lack of
scientific understanding of fundamental principles of legged locomotion rather
than any technological limitation.
We seek to answer these fundamental questions of how legged locomotion works,
and to demonstrate discoveries by building robots and implementing principled
controllers. We have found that simple controllers of the swing leg during
flight can replicate observed behavior from animals, including the
prioritization of injury avoidance over a steady gait in uneven terrain.
Further, we have shown that a simple stance-phase force control method can
explain observed biological features such as apparent leg stiffness changes or
energy insertion on dissipative ground. The combination of these
straightforward controllers allows a simple model to handle surprisingly
variable terrain with no terrain knowledge. We currently are implementing
these controllers on ATRIAS, our bipedal robot.
Speaker Biography:
Jonathan W. Hurst is an Assistant Professor of Mechanical Engineering at Oregon State University, and director of the Dynamic Robotics Laboratory. He holds a B.S. in mechanical engineering, and both an M.S. and Ph.D. in robotics, all from Carnegie Mellon University. His research investigates fundamental principles of physical interaction -- specifically, the integration of passive dynamics and control to achieve highly dynamic behaviors that may include unexpected impacts, broken contact, and significant energy transfer. His recent focus has been working on bio-inspired control strategies for walking and running gaits, building ATRIAS, a walking and running bipedal robot, and implementing these controllers on the machine.
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