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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 callenging. 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.



Thierry Baron
Mon Apr 7 12:54:24 EDT 1997