Now showing items 1-3 of 3
Multi-Contact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control
(Georgia Institute of Technology, 2016-03)
Lower-limb prostheses provide a prime example of cyber-physical systems (CPSs) requiring the synergistic development of sensing, algorithms and controllers. With a view towards better understanding CPSs of this form, this ...
Towards Real-Time Parameter Optimization for Feasible Nonlinear Control with Applications to Robot Locomotion
(Georgia Institute of Technology, 2016-07)
This paper considers the application of classical control methods, designed for unconstrained nonlinear systems, to systems with nontrivial input constraints. As shown throughout the literature, unconstrained classical ...
Multi-Contact Bipedal Robotic Locomotion
(Georgia Institute of Technology, 2015)
This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and ATRIAS. Inspired by ...