Colloquium announcement
Faculty of Engineering Technology
Department Biomechanical Engineering
Master programme Mechanical Engineering
As part of his / her master assignment
Oosterveld, S.W.S. (Sander)
will hold a speech entitled:
Momentum-based control for compliant link quadrupeds
Date | 23-02-2023 |
Time | 14:00 |
Room | CR 3C |
Summary
There are many biped and quadruped robots that could take over human labor. One of the main challenges for these robots is maintaining balance while walking. The momentum-based control framework has been used to address this issue for both rigid bipeds and quadrupeds. However, there has yet to be an example of a biped or quadruped with a compliant body that uses a momentum-based control framework. Such compliant bodies can either be a result of cheaper and lighter production or a design choice to improve robot performance.
This research focuses on two challenges with the inclusion of flexible bodies in a quadruped: state observation and momentum-based control. Both are applied to a planar quadruped with a compliant spine. The results of this research demonstrate the importance of including the compliant spine in both the state observer and the momentum-based controller.
Assessment committee |
chair Signature d.d. |
|
prof. dr. ir. Herman van der Kooij dr. ir. Ronald G.K.M. Aarts dr. ir. Arvid Q.L. Keemink |
(chair) (external member) (supervisor) |