Control Seminar

Multilegged running; a bump in the right direction

Shai Revzen

Assistant Professor
University of Michigan - Department of EECS
Friday, November 01, 2013
3:30pm - 4:30pm
1500 EECS

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About the Event

Legged locomotion on land is often viewed in terms of "gaits" corresponding to repeated patterns of footfalls, suggesting an application of the mathematical theory of limit cycle oscillators. Unlike classical oscillators, the oscillators appearing in locomotion encounter rapid processes that are often modeled as non-smooth "hybrid" transitions. In the last couple of years my collaborators and I developed some insights into the unique features of hybrid limit cycle oscillators. In particular, empirical analysis of rapid multilegged locomotion that brought us to discovery a new, fundamental form of stability unique to hybrid oscillators of these gaits.

Additional Information

Contact: Ann Pace

Phone: 763-5022


Sponsor(s): Bosch, Eaton, Ford, MathWorks, Toyota, and Whirlpool

Open to: Public