Special Robotics Seminar
Bipedal Locomotion from Robots to Birds: Analyzing and Synthesizing Dynamic
Walking and Running by Way of Optimization
Rogers 226
4:00 - 4:50 pm
Abstract:
Bipedal locomotion is a complex phenomenon to understand and control, making it
difficult for legged robots to achieve the speed, agility, efficiency, and
robustness of their animal counterparts. This presentation explores the use of
numerical optimization to investigate and implement bipedal control as it
applies to biology, dynamical models, and robots alike. We use trajectory
optimization as a primary tool for analyzing and synthesizing bipedal
locomotion control in its arguably most dynamic domains: running in cursorial
birds and underactuated walking and running in robots. We present 1) an
investigation uncovering the task-level control objectives of ground-running
birds from quail to ostrich, 2) modeling investigations into control strategies
that optimize these objectives, and 3) the design of a highly dynamic robot and
the optimal walking control thereof. We also present our ongoing progress in
the control of ATRIAS, a highly dynamic biped capable of walking and runn!
ing. We ultimately posit that dynamic and biologically comparable bipedal
locomotion can be achieved by optimizing energy costs while strictly avoiding
injurious forces and satisfying practical locomotion task constraints.
Speaker Bio:
Christian Hubicki is a postdoctoral researcher in the Dynamic Robotics
Laboratory at Oregon State University. Christian received his B.S. and M.S. in
Mechanical Engineering from Bucknell University, studying precision
point-to-point robot position control and optimization of rough-terrain bipedal
robotic walking. He received a Mechanical, Industrial, and Manufacturing
Engineering fellowship to pursue his doctorate from the Dynamic Robotics Lab at
Oregon State University. To receive his PhD in Robotics and Mechanical
Engineering, Christian studied optimization of control in dynamic bipedal
locomotion and how it can be unified to connect robots and ground-running
birds. His current postdoctoral efforts are aimed at the successful dynamic
demonstration of the bipedal robot, ATRIAS, at the DARPA Robotics Challenge in
June.
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