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SUMMARY:Optimal Control behind the Passive Dynamic Walking? - Dr Kentaro H
 irata (Nara Institude of Science and Technology\, visiting scholar at CUED
 )
DTSTART:20081107T140000Z
DTEND:20081107T150000Z
UID:TALK14894@talks.cam.ac.uk
CONTACT:Dr Guy-Bart Stan
DESCRIPTION:Passive dynamic walking has been attracting the interest of th
 e robotics researchers for its energy-efficient\, human-like motion. One o
 f the ultimate questions may be that what makes the passive walking \nstab
 le. To answer this question\, we have been investigating the modeling\, an
 alysis and control issues of the passive walking. In this talk\, I would l
 ike to summarize the modeling of passive dynamic walking by piecewise affi
 ne system with state jump and\nstability analysis based on it. Also the re
 lationship between its implicit feedback structure and a certain optimal c
 ontrol is investigated.
LOCATION:Cambridge University Engineering Department\, Lecture Room 3B
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