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PRODID:-//University of Illinois//Web Services Calendar//EN
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BEGIN:VEVENT
DTSTAMP:20120214T142123Z
DTSTART;TZID=America/Chicago:20070314T150000
DTEND;TZID=America/Chicago:20070314T150000
SUMMARY:ITI CAESAR Seminar and Decision\, Control and Optimization Semina
 r: Mark Spong: "Gait Regulation in Bipedal Locomotion"
CREATED:20070302T140000Z
DESCRIPTION:ABSTRACT:In this talk we will discuss the problem of generati
 ng stable walking gaits in bipedal locomotion using active feedback cont
 rol. Exploiting the well-known notion of passive dynamic walking\, we wi
 ll show how to generate stable periodic gaits on arbitrary ground slopes
  and how to regulate forward walking speed. Our results rely on our rece
 ntly introduced notion of "Controlled Symmetry in Lagrangian Systems" an
 d "Trajectory Time Scaling" together with "Passivity-Based Control" to a
 chieve robustness to disturbances and slope variation. We will present t
 he theoretical results and animations showing the performance of the con
 troller on several bipeds including the compass-gait biped\, biped with 
 knees\, and biped with both knees and torso.
LAST-MODIFIED:20070302T140000Z
LOCATION:B02 CSL
CATEGORIES:Seminar
ORGANIZER:japplequ@illinois.edu
URL:http://illinois.edu/calendar/detail/442?key=200001012000010157433
UID:57433@illinois.edu
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