GRASP Seminar Series: Spring 2006

April 27, 12:00 p.m., Berger Auditorium, Skirkanich Hall (210 S. 33rd Street)

Jessy Grizzl
University of Michigan

"Feedback Control of Bipedal Robot Locomotion: Dealing with Compliance" 

Abstract: This talk will present work by the speaker and colleagues on the systematic design of feedback controllers for walking and running motions in bipedal robots, with emphasis on the careful analysis of the stability properties of the closed-loop system. The presentation will provide a brief overview of past accomplishments on robots with rigid links and joints, and then move on to quite recent work on the control of robots with compliant elements. The talk is liberally illustrated with graphics and videos that explain and support the underlying mathematical theory.

Biography: Jessy W. Grizzle is a Professor in the Control Systems Laboratory of the Electrical Engineering and Computer Science Department within the College of Engineering at The University of Michigan in Ann Arbor, Michigan. His research interests include the theory of nonlinear control systems, the modeling and control of automotive powertrain systems, and the control of bipedal robots.


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