control

In this work, presented at IROS 2022, we generate families of optimal motion plans for biomimetic systems. These families are parametrized by a single variable, providing an intuitive control mode for systems with very complex dynamics.

This is my masters thesis, the culmination of my geometric mechanics work at Oregon State University. I explore models for locomotion based on the Lie algebra, consequences of body frame coordinate optimization, and dimensionality reduction for biomimetic mobile systems.

This project applies Lagrangian dynamics and some of the structures in geometric mechanics to model and control the dynamics of a manipulator that has series elastic actuators. The purpose of this project was to explore the idea of traditional manipulators with tunable compliance, which could permit working in both industrial applications and alongside people.