Jeeseop KimOverview Cooperative Robotics Safety Critical Control Quadrupedal Robot/Humanoid Legged RobotsMore than half of the Earth's continent is unreachable to wheeled vehicles—this motivates the deployment of legged robots to enable the accessibility of these environments and thus bring robots into the real world. However, legged robots are inherently unstable, unlike most of the systems where conventional algorithms have been deployed. Models of legged robots are further described by high-dimensional, underactuated, and complex hybrid dynamical systems, which complicate the design of control algorithms and motion control. The overarching goal of this thread is to create a formal foundation based on scalable optimization and robust and nonlinear control to develop hierarchical feedback control algorithms for various legged robots for stable and robust locomotion in complex environments. Research AimsResearch thread aims to develop a formal foundation of the control design for the legged robots. |