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There is now a CONTENT FREEZE for Mercury while we switch to a new platform. It began on Friday, March 10 at 6pm and will end on Wednesday, March 15 at noon. No new content can be created during this time, but all material in the system as of the beginning of the freeze will be migrated to the new platform, including users and groups. Functionally the new site is identical to the old one. webteam@gatech.edu
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Title: Graceful Transitions etween Periodic Motions for Nonlinear and Hybrid Systems
Committee:
Dr. Verriest, Advisor
Dr. Vela, Chair
Dr. Zhao
Abstract:
The objective of this research is to investigate new methods for achieving graceful transitions between periodic motions of nonlinear and hybrid systems. The preliminary work presented first focuses on lower order simple nonlinear and hybrid systems like a vertical hopper on granular media, and an inverted spherical pendulum on a cart. Subsequently, we move to higher order, fully actuated bipedal robots. The results presented here are based on a unified Gluskabi Raccordation framework. It is expected that this research should improve our understanding of how animals loco-mote and also provide a framework to generate efficient, safe and elegant motions on high dimensional nonlinear systems such as humanoid bipedal robots.
