Robust Control of Bipedal Locomotion: An H-Infinity Approach
on August 15, 2019 from 6:00 PM to 7:00 PM
The study of
mechanical legged locomotion has been motivated by its potential use as means
of locomotion in rough terrains, but in particular, the interest arises from
diverse sociological and commercial interests, ranging from the desire to replace
humans in hazardous occupations (de-mining, nuclear power plant inspection,
military interventions, etc.), to the restoration of motion in the disabled.
For practical implementation, good mechanical design and good modeling, play a
very important role in achieving good performance. However, in real world
applications bipedal robots are subject to many sources of uncertainty during
walking; these could include a push from a human, an unexpected gust of wind,
geometric perturbations of terrain height, or parametric uncertainties of
non-modeled friction forces. For these reasons, the design of feedback control
systems, capable of attenuating the effect of these uncertainties, is critical
to achieve the desired walking gait.
This presentation deals with the applicability of the H infinity control technique to two
different humanoid robots: the 32 degrees-of-freedom biped robot ROMEO, of
Aldebaran Robotics; and the 2D planar biped RABBIT, housed in LAG, the
Automatic Control Laboratory of Grenoble. Results, challenges, and state of the
art are discussed.
has worked in research and development in the aerospace and telecommunications
industry since 2008, and is a Certified Labview Developer and Instructor since
2016. He obtained his Master's degree in Electronics and Telecommunications
from CICESE, Mexico, in 2012, and received his PhD degree in Controls Systems,
Robotics and Automation from l'Universite de Nantes, France in 2016. He
currently works as Electrical Design Engineer at the 2J USA laboratory in San
He has authored 7 articles in peer-reviewed journals, presented his results at
10 international congresses and written a book chapter. His current research
interests include stability analysis, system identification, modeling and
robust control of nonlinear systems.
ADVANCED TEST EQUIPMENT CORPORATION
10401 Roselle St, San Diego, CA 92121
6:00 - 6:30 Refreshments and networking
6:30 - 7:30 Presentation
Adjourn by 8:00 pm.
Free for members, IEEE, $5.00 at the door for non-members