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GRASP Special Seminar: Mohammad Shahbazi, Delft University of Technology, The Netherlands, “Control of Legged Locomotion using Approximate Dynamic Models”

May 26, 2015 @ 11:00 am - 12:00 pm


 In this talk, I will introduce the first analytical approximations to the double-stance phase of a walking gait modeled using the Spring-loaded Inverted Pendulum (SLIP) template. The predictive performance of the approximate solutions was investigated by applying them in the design of gait controllers, performing dynamic walking, walk-to-run and run-to-walk transitions. I then discuss the approach we have taken to investigate the compositional treatment of the developed template models, with the aim to realize the similar transient behaviors in multi-legged robots. The talk will be concluded by presenting the primary results of coordinating multiple physically-unconnected template models using a supervisory synchronization controller formulated in the Max-plus algebra.


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Mohammad Shahbazi received the B.Sc. and M.Sc. degrees in mechanical engineering from the K.N.Toosi University of Technology, Tehran, Iran, in 2007 and 2010, respectively. He is currently working toward the Ph.D. degree with the Delft Center for Systems and Control, Delft University of Technology, Delft, The Netherlands. His research interests include nonlinear control problems for hybrid systems, robotics, and event-driven control systems.


May 26, 2015
11:00 am - 12:00 pm
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