Analysis Seminar: Torleif Anstensrud
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Speaker: Torleif Anstensrud, PhD student, Department of Engineering Cybernetics, NTNU
Title: Periodic solutions of nonlinear dynamic systems: Applications in legged robotics.
Abstract: The talk will focus on the role of periodic solutions of nonlinear differential equations in the search for walking patterns for legged robots. I will talk briefly about periodic trajectories in general, and then specifically go into detail about periodic solutions of hybrid systems (systems having both continuous and discrete dynamics) and their relationship to stable walking. Following this, the method of virtual holonomic constraints will be introduced as a tool for searching for certain periodic trajectories. The method will be demonstrated in broad terms on one of the simplest walking machines, the 2D passive biped.
Title: Periodic solutions of nonlinear dynamic systems: Applications in legged robotics.
Abstract: The talk will focus on the role of periodic solutions of nonlinear differential equations in the search for walking patterns for legged robots. I will talk briefly about periodic trajectories in general, and then specifically go into detail about periodic solutions of hybrid systems (systems having both continuous and discrete dynamics) and their relationship to stable walking. Following this, the method of virtual holonomic constraints will be introduced as a tool for searching for certain periodic trajectories. The method will be demonstrated in broad terms on one of the simplest walking machines, the 2D passive biped.
06.10.2014