Reducing the Complexity of Robotic Motion Planning: Algorithms and Applications in Bipedal Locomotion
MIE Department Seminar
January 23, 2024
11:00 AM - 12:00 PM America/Chicago
Presenter: Ayonga Hereid, PhD, The Ohio State University
Location: ERF1043
Abstract: Bipedal locomotion, while captivating in its resemblance to human movement, presents a significant challenge within the field of robotics. The inherent multi-dimensionality and dynamic complexity of bipedal robots have posed substantial obstacles to traditional control methods, often limiting their real-world applications. This presentation delves into the intricacies of bipedal motion planning, illuminating algorithmic approaches that aim to simplify control and unlock the practical potential of bipedal robots. We examine a range of model-based and learning-based approaches to develop reduced-dimensional representations for a better understanding of robot behaviors and their interactions with the environment. A significant focus of our research is on designing stable walking gaits that account for the robots' natural dynamics and environmental uncertainties. By developing computationally efficient optimization and learning frameworks, we experimentally demonstrated the feasibility of dynamic and robust walking with challenging humanoid robots and realized essential capabilities such as accurate velocity tracking, traversing varied terrain, navigating dynamic obstacles, and exhibiting stability under external perturbations. Furthermore, we explore the potential for knowledge transfer from humanoid robots to lower-limb exoskeletons, potentially enabling restoration of mobility for individuals with paraplegia. Additionally, we present the possibility of integrating hybrid full-body exoskeletons and humanoid robots in industrial settings, aiming to enhance workplace productivity and safety.
Speaker Bio: Ayonga Hereid is an assistant professor with the Department of Mechanical and Aerospace Engineering at The Ohio State University. Prior to joining OSU, he was a postdoctoral research fellow at the University of Michigan, Ann Arbor. He received the B.S. and M.S. degrees from Zhejiang University, China, in 2007 and 2010, respectively, and the Ph.D. degree from the Georgia Institute of Technology in 2016. His current research interests include developing advanced control and learning algorithms to realize dynamic and natural locomotion on bipedal robots and lower limb exoskeletons. Hereid was the recipient of the National Science Foundation CAREER Award in 2022. His work was recognized for the Best Student Paper Award at the ACM International Conference on Hybrid Systems: Computation and Control in 2014 and was nominated as the Best Conference Paper Award Finalist at the IEEE International Conference on Robotics and Automation in 2016.
Date posted
Jan 16, 2024
Date updated
Jan 16, 2024