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Foundations of Robotics Seminar, March 21, 2007
Time and Place | Seminar Abstract
| Speaker Appointments
Gait Regulation: Using Gait Space Topology for Legged
Robot Control
Clark Haynes
NSH 1507
Refreshments 4:15 pm
Talk 4:30 pm
Gait regulation is
the use of a control system to direct a legged robot toward certain preferred
gaits while locomoting. With the ultimate goal of understanding ways
in which we can apply feedback to gaits, we make use of this research to
monitor and regulate the locomotive strategies a robot utilizes.
In this talk, I
will give an overview of our recent progress in gait regulation. Foremost, I will show how a set of simple
constraints amongst gait parameters overlays a topology of interest onto the
space of possible gaits, matching results from our previous gait regulation
work. Next, I show ways in which we can
modify this gait space topology and, in our most recent work, develop a hybrid
control approach that regulates gaits such as a trot on a quadruped, or the
alternating tripod on a hexapod, in a stable manner, previously not possible
with our methods. For both simulated and
physical systems, this work produces interesting behaviors
for many-legged robots, on which a variety of gaits exist.
For
appointments, please contact Clark Haynes
The Robotics
Institute is part of the School of
Computer Science, Carnegie Mellon University.