Graduate Thesis Or Dissertation
 

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

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https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/g732dh894

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  • 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 methods of control. This thesis presents an approach to the problem of agile legged locomotion founded on a first principles understanding of gait dynamics. This approach is built on the perspective that an understanding of locomotion is vital to the successful application of modern control and planning tools. We present 1) a ground-up analysis of legged locomotion as a dynamical phenomenon, 2) approaches that utilize dynamically meaningful reduced order models of locomotion, and 3) applications to the hardware robot Cassie via reinforcement learning.
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  • National Science Foundation Graduate Research Fellowship Program
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