ICRA 2021 Workshop on Legged Robots (Towards Real-World Deployment of Legged Robots)
Title: Robots for a Human World
Abstract
Legged locomotion is cyclic dynamical behavior, but legged robots in the real world must do much more than just locomote. Still, the lowest-level dynamics, even the passive dynamics, are a critical foundation for everything: and levels of a control hierarchy are emergent from features of the behaviors. For example, impact dynamics are governed by inertias and compliances in a mechanism; but control of a gait is governed by step placement. We are working our way up from the bottom, and in this talk, I show a number of examples of behaviors through different levels of the control hierarchy. I’ll end with another important feature of legged robot deployments in the real world: our business vision at Agility Robotics.
Bio
Jonathan W. Hurst is a Professor of Robotics, co-founder of the Oregon State University Robotics Institute, and Chief Technology Officer and co-founder of Agility Robotics. He holds a B.S. in mechanical engineering and an M.S. and Ph.D. in robotics, all from Carnegie Mellon University. His university research focuses on understanding the fundamental science and engineering best practices for legged locomotion. Investigations range from numerical studies and analysis of animal data, to simulation studies of theoretical models, to designing, constructing, and experimenting with legged robots for walking and running, and more recently, using machine learning techniques merged with more traditional control to enable highly dynamic gaits. Agility Robotics is extending this research to commercial applications for robotic legged mobility, working towards a day when robots can go where people go, generate greater productivity across the economy, and improve quality of life for all.
This video was part of the ICRA 2021 5th Workshop on Legged Robots.
For more information, check our website: leggedrobots.org