CMX Student/Postdoc Seminar

As robotic systems become increasingly capable and autonomous, both the tasks we ask them to accomplish and the resulting control strategies we develop grow in complexity. In this talk, we will discuss some perspectives on hierarchical controllers as a way to address this complexity by enabling efficient, systematic, and generalizable design processes. We will showcase recent results in achieving dynamically stable behaviors on a 3D hopping robot and a planar biped through the use of hierarchical control architectures. Along the way, we will review a quick primer on nonlinear control with a focus on how to incorporate it into the discussed hierarchical pipeline