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Control of Complex Dynamical Systems

A. Cocosco, M. Buehler

Legged robots are highly complicated, nonlinear dynamical systems with many actuated and non-actuated degrees of freedom. Since linearization can rarely be justified as a means to simplify those dynamics, synthesizing stable and robust controllers is challenging. With the advent of fast and inexpensive computing power, it becomes possible to synthesize controllers using computational methods, like adaptive simulated annealing or genetic programming. So far we have succeeded in developing stable controllers for one legged running robots, and our goal is to develop the framework for synthesizing controllers for quadruped locomotion in unstructured environments, as well as other complex systems.

Annual Report

Fri Nov 26 23:00:32 GMT 1999