dynamics

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.

In this work, presented at ICRA 2022, we demonstrate the role of body-frame coordinate optimization in reducing error when using simplified models for system dynamics. This was my first conference paper.

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.

As part of an extended project, we were interested in producing highly dynamic legged locomotion (think running, jumping) on Agility Robotics’ Cassie. My role in this project built on some previous work by my advisor, Prof. Ross L. Hatton, to optimally choose stable body frame coordinates for this robot.

As part of a graduate course and in support of my own research, I explored methods of visualizing robot configuration spaces. This is particularly useful as these spaces grow in size, providing intuition that would otherwise be lost. This work was later expanded in my own thesis and supported other publications.