Legged robots appeal to “kids” of all ages.
Developed Graduate Course:
ME 6804: Feedback Control of Dynamic Legged Locomotion
The course provides a comprehensive understanding of modeling, path planning, and control methodologies for complex legged robots. It also provides the engineering detail to achieve dynamic legged locomotion, including nonlinear models of legged locomotion, multi-body dynamics, impact dynamics, unilateral constraints, underactuation, physical constraints, hybrid systems, periodic solutions, dynamic stability, Poincaré return map, nonlinear control, virtual constraints, hybrid zero dynamics, reduced-order models, and optimization-based path planning of legged robots.