Legged robots appeal to “kids” of all ages.


Robot Locomotion Exhibit

Virginia Tech Science Festival



Developed Graduate Course:

ME 6984: 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.


Hybrid Dynamic Systems and Robot Locomotion Laboratory

Department of Mechanical Engineering

Virginia Tech

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Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.