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        "event_title":"Feedback Control of Highly Dynamic 3D Bipedal Locomotion",
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        "combined_title":"Feedback Control of Highly Dynamic 3D Bipedal Locomotion: Robotics PhD Defense, Yukai Gong",
        "event_subtitle":"Robotics PhD Defense, Yukai Gong",
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        "description":"Chair: Jessy Grizzle\r\n\r\nAbstract:\r\nBipedal robots have the potential to free humans from tedious or dangerous tasks. Compared to robots in other forms, a bipedal robot has similar morphology to humans and thus can work in almost all spaces where humans work and requires little to none facility modifications. However, while many other robots are deployed in real life and are beginning to have an impact, bipedal robots are hardly seen outside of labs due to stability issues. Bipeds are inherently unstable due to their morphology. A bipedal system is nonlinear, high dimensional, hybrid, and underactuated, which poses great challenges to controller design. This thesis will therefore focus on developing control methods for biped locomotion. \r\n\r\nFirst, we discuss a controller for a Cassie Robot designed with gait-library methods.  The full 20 DoF dynamic model of Cassie and optimization are used to design seven gaits for walking in place, forward, and backward, while meeting key physical constraints. Moreover, we show how to practically implement these gaits on the robot. \r\n\r\nNext, we focus on studying the dynamics of bipedal robots. We established connections between various approximate pendulum models that are commonly used for heuristic controller design and those that are more common in the feedback control literature where formal stability guarantees are the norm. We clarify commonalities and differences in the two perspectives for using low-dimensional models. In the process of doing so, we argue that models based on angular momentum about the contact point provide more accurate representations of robot state than models based on linear velocity. Specifically, we show that an approximate (pendulum or zero dynamics) model parameterized by angular momentum provides better predictions for a physical robot (e.g., legs with mass) than does a related approximate model parameterized in terms of linear velocity. We call the pendulum model parameterized by angular momentum ALIP.\r\n\r\nFinally, we discuss general mechanisms in bipedal balance, explain why foot placement is the most effective method, and select it as our major method to stabilize a bipedal gait. We focus on regulating angular momentum about the contact point with the ALIP model. We implement a one-step-ahead angular-momentum-based walking controller on Cassie, a 3D robot, and demonstrate high agility and robustness in experiments. We also design a running controller with the same methodology and demonstrated the results in simulation and experiments.",
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        "tags":["Robotics","Graduate","Electrical Engineering and Computer Science","Mechanical Engineering","Michigan Engineering","Michigan Robotics","Research"],
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        "event_title":"Grad School 101: Financial Aid and Scholarships",
        "occurrence_title":"",
        "combined_title":"Grad School 101: Financial Aid and Scholarships",
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        "event_type_id":"13",
        "description":"Learn what types of financial aid and scholarships are available from Rackham and how they may impact your financial aid during graduate school.\nRegistration is required at https:\/\/myumi.ch\/Z61ZQ.\nWe want to ensure full and equitable participation in our events. If an accommodation would promote your full participation in this event, please follow the registration link to indicate your accommodation requirements. Please let us know as soon as possible in order to have adequate time, preferably one week, to arrange for your requested accommodations or an effective alternative.",
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        "datetime_modified":"20221109T141417",
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        "datetime_end":"20220810T141500",
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        "date_start":"2022-08-10",
        "date_end":"2022-08-10",
        "time_start":"13:30:00",
        "time_end":"14:15:00",
        "time_zone":"America\/Detroit",
        "event_title":"Sky Tonight",
        "occurrence_title":"",
        "combined_title":"Sky Tonight",
        "event_subtitle":"",
        "event_type":"Presentation",
        "event_type_id":"16",
        "description":"A live presentation on what to find in the sky tonight and for the coming few weeks. This presentation includes how to find the cardinal directions on your own by finding the North Star, current and upcoming constellations, visible planets, a few deep sky objects depending on the season, and other interesting astronomical visualizations. If you want to be able to look up from your own backyard and know what to look for, this is the show for you.\r\n\r\nThe state-of-the-art Planetarium & Dome Theater at the U-M Museum of Natural History transports visitors beyond distant stars and back in time from the comfort of reclining seats. Tickets $8. Tickets are available on the day of the show at the Museum Store.\r\n\r\nThe planetarium is operating at half capacity to maximize distancing between viewers.",
        "occurrence_notes":null,
                "guid":"91230-21791598@events.umich.edu",
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        "cost":"Tickets $8. Tickets are available on the day of the show at the Museum Store.",
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        "event_title":"Curious about PCU (Progressive Care Unit)? GN Residency Info Session",
        "occurrence_title":"",
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        "event_subtitle":"",
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        "description":"Come join us and learn more about the PCU unit from manager Courtnee Cross and a few  her amazing team members! Get insights into what the unit entails, the benefits to working on the floor, and ask your questions!\n\nIs critical care the right fit for you? Come find out! We can't wait to meet you!",
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        "event_title":"Getting to Know Michigan Athletics",
        "occurrence_title":"",
        "combined_title":"Getting to Know Michigan Athletics",
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        "event_type_id":"24",
        "description":"In this webinar, we will discuss the student experience with Michigan Athletics and the many ways they can participate\/be involved. This will cover basic ticket information, sporting events they can attend (free and paid), student section involvement, internship opportunities, etc.",
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        "time_zone":"America\/Detroit",
        "event_title":"Tales of the Maya Skies",
        "occurrence_title":"",
        "combined_title":"Tales of the Maya Skies",
        "event_subtitle":"",
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        "event_type_id":"16",
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                "guid":"95036-21791660@events.umich.edu",
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        "event_title":"AlphaSights Summer Open House: Accelerated Growth at AlphaSights",
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