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SUMMARY:Symmetric Hybrid Systems: Periodic Gait Design for Legged Robots
DTSTART:20170324T160000
DTSTAMP:20260430T011320Z
UID:6a5729686e607802fced5e1ff8999dd75b14580edac3b2c56a233417
CATEGORIES:Conferences - Seminars
DESCRIPTION:Dr. Hamed Razavi\, Biorobotics Laboratory\, EPFL\nSUMNER MYERS
  PRIZE SEMINAR AND CEREMONY\n\nAbstract:\nWhile wheeled vehicles are very 
 efficient on even terrains\, legged robots can outperform them on uneven t
 errains and where there is no continuous path of travel (such as stairs an
 d ladders). This versatility of legged robots\, however\, brings challenge
 s such as obtaining stable walking and running gaits. A type of walking ga
 it\, which is the focus of this talk\, is a periodic one\, which can be as
 sociated with a periodic orbit of the dynamic model that represents the le
 gged robot. The common method for obtaining such periodic orbits is conduc
 ting a numerical search for fixed points of a Poincaré map. However\, as 
 the number of degrees of freedom of the system grows\, such numerical sear
 ch becomes computationally expensive because in each search trial the dyna
 mic equations need to be integrated. Moreover\, the numerical search for p
 eriodic orbits is in general sensitive to model errors.\n\nI will show tha
 t we can overcome these issues by using the “Symmetry Method for Limit C
 ycle Walking”\, which relaxes the need to search for periodic orbits\, a
 nd at the same time\, gives rise to limit cycles that are robust to model 
 errors. Mathematically\, the symmetry method is described in the context o
 f Symmetric Hybrid Systems. I will show that legged robots\, due to the sy
 mmetries that they possess\, are symmetric hybrid systems and hence\, have
  an infinite number (indeed\, a continuum) of periodic orbits that can be 
 identified easily. I will present the experimental results of the symmetry
  method on the humanoid robot COMAN at the Biorobotics laboratory of EPFL.
 \n\nBio:\nHamed Razavi has a B.Sc. in Mechanical Engineering (2007)\, a B.
 Sc. in Mathematics (2008)\, and an M.Sc. in Mechanical Engineering (2010) 
 all from Shiraz University\, Iran. He did his PhD on "Symmetry method for 
 Limit Cycle Walking of Legged Robots" at the University of Michigan\, Ann 
 Arbor. He joind Biorob in August 2016. Hamed Razavi contributes to the Eur
 opean Comission projects WALKMAN and COGIMON.  More information on his re
 search and publications can be found here. \n\nNote:\nThis talk is organi
 zed jointly with the University of Michigan\, Ann Arbor\, and will be the 
 occasion for Dr Razavi to receive the Sumner Myers prize for the best doct
 oral thesis from the department of Mathematics of the University of Michig
 an. Because of new visa constraints\, Dr Razavi can unfortunately not trav
 el to the US to obtain his prize\, and it was decided to hold the talk and
  ceremony here together with U. Michigan (with a videoconference link). 
LOCATION:SV 1717 https://plan.epfl.ch/?room==SV%201717
STATUS:CONFIRMED
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