Next week, it’s #icra2020! In “Optimal Reduced-order Modeling of Bipedal Locomotion” by Yu-Ming Chen and Michael Posa, we try to find the best low-dimensional model that captures high-performance walking. The solution combines trajectory optimization and stochastic gradient descient, as a bilevel optimization directly over potential models. Check out the paper or virtual talk.
We’re excited to present our work at #icra2020! In “Contact-Aware Controller Design for Complementarity Systems” by Alp Aydinoglu, Victor Preciado, and Michael Posa, we use bilinear matrix inequalities to synthesize controllers that use tactile feedback to stabilize systems through nearby contact events. Check out the paper or the virtual talk.
We are happy to have two papers accepted to ICRA this year! Check out the preprints “Optimal Reduced-order Modeling of Bipedal Locomotion” and “Contact-Aware Controller Design for Complementarity Systems.”
Prof. Aaron Johnson of Carnegie Mellon and I are excited to announce the 2020 Dynamic Walking Conference! Dynamic Walking will be held May 11-14 at Woodloch Resorts in the Poconos of Pennsylvania. Abstract submissions are due February 21. See you there!
Details at http://dynamicwalking.org
The GRASP Lab is excited to be hosting the Northeast Robotics Colloquium this year on October 12, 2019! See https://nerc.seas.upenn.edu/ for more details on abstract submission, registration, and other logistics.
We have two new preprints available, “Optimal Reduced-order Modeling of Bipedal Locomotion” by Yu-Ming Chen and “Contact-Aware Controller Design for Complementarity Systems” by by Alp Aydinoglu. Feedback is welcome.
Michael will present some of the lab’s recent work, titled ““Exploring models of contact and legged locomotion: existence, uniqueness, and optimality” at the ACC workshop on “Challenges and Solutions for Legged Robotics”
We are excited to present two talks at Dynamic Walking next week!
- Yu-Ming Chen. “Optimal Reduced-order Modeling of a Five-link Planar Robot.” (Wednesday, 11:30am)
- Mathew Halm. “Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts.” (Wednesday, 4:30pm)
Matt has a new preprint available, accepted for publication at RSS 2019, “Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts.” We provide a rigorous analysis of a differential inclusion model of multiple, simultaneous impacts. Feedback is welcome!