Date: Monday, October 06, 2014
Location: 3096 East Hall (2:30 PM to 3:30 PM)
Title: A Simple Model of Walking and its Applications to the Bipedal Robot MARLO
Abstract: Human was able to build safe and reliable airplanes more than 50 years ago. However, in spite of all advances in technology and computers, we don’t yet have reliable and agile walking robots. In fact, the dynamics of walking is much more complicated than the dynamics of flying objects such as airplanes. Due to this complexity, there have been many different approaches toward the control and stability of walking robots, though, most of them haven’t been very successful in practice. The art of engineering is to make simple models out of mathematically complex problems. In this talk, I introduce a well-known simple model of the 3D walking, called 3D Linear Inverted Pendulum model, and will discuss how this simple model can capture many properties of the complex models of walking. At the end, I’ll demonstrate how the results obtained from the study of this simple model can be applied to a more complex model of a bipedal robot. The bipedal robot model which will be presented is a model of the robot MARLO, which is currently at the Professor Grizzle‘s lab in the Electrical Engineering and Computer Science department of the University of Michigan.
Speaker: Hamed Razavi