Skip to Content

Sponsors

No results

Tags

No results

Types

No results

Search Results

Events

No results
Search events using: keywords, sponsors, locations or event type
When / Where
All occurrences of this event have passed.
This listing is displayed for historical purposes.

Presented By: Michigan Robotics

Towards a Systematic Control Framework for Dynamic Locomotion

Donghyun Kim, Biomimetic Robotics Lab, Massachusetts Institute of Technology

mini-cheetah robot mini-cheetah robot
mini-cheetah robot
To accomplish dynamic locomotion of legged systems, we need a systematic understanding of hardware, real-time controls, motion planning, and state estimation. Therefore, a robust control framework with full consideration of the hardware is crucial but not available yet even with the current state-of-the-art techniques. Kim will explain challenges between classical control techniques (e.g. bandwidth of feedback control, uncertainty, and robustness) and high-level planning (e.g. step planning, visual perception, and trajectory optimization). Kim will also showcase some of my recent results on various legged platforms delving in different functionalities and control formulations and why a systematic understanding is critical to accomplish dynamic locomotion control. The tested robots include point-foot bipeds (Hume, Mercury), robots using liquid-cooling viscoelastic actuators (Draco), and a quadruped robot using proprioceptive actuators (Mini-Cheetah).

Donghyun Kim is a Postdoctoral Associate at the Massachusetts Institute of Technology and a member of the biomimetic robotics lab, which is known for building cheetah robots. Donghyun's primary research area is in dynamic locomotion of legged systems with a focus on the development of a control framework and its experimental validation. During his Ph.D. at UT, Donghyun developed frameworks including joint-level feedback control, whole-body control, footstep planners, and robustness analysis for passive-ankle biped robots. At MIT, he developed controllers for high speed running of quadruped robots and demonstrated the Mini-Cheetah robot running up to 3.7 m/s. He is now extending his research area to a perception-based high-level decision algorithm to push forward robots' athletic intelligence.
mini-cheetah robot mini-cheetah robot
mini-cheetah robot

Explore Similar Events

  •  Loading Similar Events...

Back to Main Content