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Filtering by: Creator Breen, Patrick J. Remove constraint Creator: Breen, Patrick J. Contributor Batke, Ryan Remove constraint Contributor: Batke, Ryan Rights Statement In Copyright Remove constraint Rights Statement: In Copyright

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  • Agile Bipedal Locomotion via Hierarchical Control by Incorporating Physical Principles, Learning, and Optimization

    Creator:
    Green, Kevin
    Abstract:
    Robotic Bipedal locomotion holds the potential for efficient, robust traversal of difficult terrain. The difficulty lies in the dynamics of locomotion which complicate control and motion planning. Bipedal locomotion dynamics are dimensionally large problems, extremely nonlinear, and operate on the limits of actuator capabilities, which limit the performance of generic...
    Resource Type:
    Dissertation
    Full Text:
    , thoughtful environment of the RAM-Lab had a huge impact on me. To Andy Abate, Taylor Apgar, and Patrick

  • Learning from optimization for bipedal robots

    Creator:
    Yu, Fangzhou
    Abstract:
    Legged robots have consistently captured our collective imagination through various forms of media, from Hollywood films, anime, and viral Youtube videos of robots accomplishing incredible feats of acrobatics. These robots have the potential to navigate our environments, capable of completing tasks that would otherwise require human intervention. However, developing controls...
    Resource Type:
    Masters Thesis
    Full Text:
    term to accumulate the running cost as well as a terminal cost term J(x,u) = ∫ T 0 L(x(t),u(t)) dt