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MEAM Ph.D. Thesis Defense: “Real-Time Perception and Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain”
MEAM Ph.D. Thesis Defense: “Real-Time Perception and Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain”
The promise of bipedal robots is to go where people go, serving as surrogates for human labor in dangerous, unstructured environments. For the most part, this promise remains unrealized. The primary challenge for controlling bipedal locomotion is underactuation. Standing on a single leg limits control authority, requiring appropriate foot placement to generate or absorb momentum […]