Modeling, Feedback Control and Experimental Results for MABEL, a Planar Bipedal Robot

This presentation will focus on the bipedal robot, MABEL, which was designed in collaboration with Prof. Jonathan Hurst, who is currently with Oregon State University. One of the purposes of building the robot is to explore a novel powertrain design that incorporates compliance, with the objective of improving the power efficiency of locomotion, both in steady state operation and in responding to disturbances. A second purpose is to inspire the development of new feedback control algorithms for running on level surfaces and walking on rough terrain. A third motivation for building the robot is science and technology outreach. The talk will be shared by Grizzle, Park and Sreenath, who will discuss the mechanical design of the robot, its dynamic model, initial feedback control designs, and experiments
Koushil Sreenath is a PhD candidate in the Department of Electrical Engineering and Computer Science. His research interests are modeling, feedback design and experiments in legged robotics. In 2002, he obtained his Bachelors in Electronics & Communication, Visweswaraiah Technological University, Bangalore, India. In 2005, he obtained an M.S. in Electrical Engineering from The University of Texas at Arlington, where he worked with Professor Frank L. Lewis. From 2006 – 2007, he was a Research Engineer with the Intelligent Controls Group, Saint-Gobain R&D, Center, Northboro, MA.

Hae-Won Park is a PhD candidate in the Department of Mechanical Engineering. His research interests are identification, modeling and control of dynamic systems. He has a variety of practical experiences in the design and control of robots. Park attended Yonsei University in Seoul, Korea from 1998-2007, earning a Bachelors in mechanical engineering in (2005) and a Masters degree in 2007.

Jessy Grizzle has been a professor with the Department of Electrical Engineering and Computer Science since 1987. His research interests span nonlinear systems and control, with applications to automotive systems, hybrid electric vehicles, diabetes, and robotics. His work as a consultant in the automotive resulted in sixteen jointly-held patents dealing with emissions reduction and fuel economy improvement through improved controller design. His current interest in bipedal locomotion grew out of a sabbatical in Strasbourg, France.