Mar 14 (Thu) @ 9:00 am: “Reducing the Complexity of Robot Motion Planning: Algorithms and Applications in Bipedal Locomotion,” Ayonga Hereid, Ass’t. Prof., Ohio State U

Abstract

Bipedal locomotion, while captivating in its resemblance to human movement, presents a significant challenge in the field of robotics. The inherent multi-dimensionality and dynamic complexity of bipedal robots have posed substantial obstacles to traditional control methods, often limiting their practical applications. In this talk, I will delve into the complexity of bipedal motion planning, presenting algorithmic approaches that aim to simplify control and unlock the practical potential of bipedal robots. I will discuss a range of model-based and learning-based approaches to develop reduced-dimensional representations for a better understanding of robot behaviors and their interactions with the environment. By developing computationally efficient optimization and learning frameworks that account for the robots' natural dynamics and environmental uncertainties, we experimentally demonstrated the feasibility of dynamic and robust walking with challenging humanoid robots. We realized essential capabilities such as precise velocity tracking, navigation across complex terrains, dynamic obstacle avoidance, and stability under external perturbations. Additionally, our exploration extends to the transferability of knowledge from humanoid robots to lower-limb exoskeletons, aiming to restore mobility for individuals with paraplegia and improve workplace productivity and safety.

Bio

Ayonga Hereid is an assistant professor in the Department of Mechanical and Aerospace Engineering at The Ohio State University. He previously held a postdoctoral research position at the University of Michigan, Ann Arbor, and obtained his Ph.D. from the Georgia Institute of Technology in 2016. His research focuses on advanced control and learning algorithms for achieving dynamic and natural locomotion with bipedal robots and lower-limb exoskeletons. Prof. Hereid received the NSF CAREER Award in 2022 and has been recognized with the Best Paper Award at the ACM International Conference on Hybrid Systems: Computation and Control (HSCC). He was also a finalist for the Best Conference Paper Award at the IEEE International Conference on Robotics and Automation (ICRA) for his innovative work in bipedal robotics.

Hosted by: ECE Department

Submitted by: Alexa Pazzel <apazell@ece.ucsb.edu>