Optimal Control behind the Passive Dynamic Walking?

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• Dr Kentaro Hirata (Nara Institude of Science and Technology, visiting scholar at CUED)
• Friday 07 November 2008, 14:00-15:00
• Cambridge University Engineering Department, Lecture Room 3B.

If you have a question about this talk, please contact Dr Guy-Bart Stan.

Passive dynamic walking has been attracting the interest of the robotics researchers for its energy-efficient, human-like motion. One of the ultimate questions may be that what makes the passive walking stable. To answer this question, we have been investigating the modeling, analysis and control issues of the passive walking. In this talk, I would like to summarize the modeling of passive dynamic walking by piecewise affine system with state jump and stability analysis based on it. Also the relationship between its implicit feedback structure and a certain optimal control is investigated.

This talk is part of the CUED Control Group Seminars series.

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