The overarching goal of this class is to provide students with an overview of the current state of the art in the field of dynamics and control of legged (robotic) systems. To achieve this goal, the course will use and apply a large number of key theoretical principles of mechanical dynamics, including: multibody-dynamics, non-smooth dynamics, nonlinear-dynamics, limit cycles, orbital stability, continuation, and bifurcations. Using these concepts, students will learn about different gaits, the effects of scaling, modeling of legged systems, simple models of locomotion, passive dynamics, and limit-cycle locomotion. For students, this will provide a unique opportunity to experience how their theoretical dynamics knowledge can be put into practice. In addition, the class will cover a broad range of different control strategies for legged robots, including: Raibert’s controller (best known from Boston Dynamics’ Big Dog), control based on inverse kinematics (used in Little Dog), zero-moment point control (used in the Honda Asimo), capture points (used in the IHMC bipeds), virtual model control (used in RAMone), hybrid zero dynamics (used in Cassie Blue), as well as optimal control through multiple shooting and direct collocation.
- Oral Exam, duration 30 minutes.
- Time and date arranged individually with instructor
- Exam location Pf.9, Room 3.133 (Office Prof. Remy)
- No electronic devices (calculator/laptop/phone)