OPTEC Seminar - Andrei Herdt | OPTEC - K.U.Leuven CoE Optimization in Engineering

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OPTEC Seminar - Andrei Herdt

Tue 09 Dec 2008 14:00-15:00, ESAT 00.92

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"Stability optimization of a humanoid robot"
Andrei Herdt

Equilibrated walking in the presence of perturbations constitutes one of the most challenging problems in the development of humanoid robots. In order to improve the robustness of their equilibrium, numerous stability criteria have been developed so far, but most of them are heavily heuristic and overly conservative.
First, we review recent results from my master thesis that address the problem of stability analysis by means of convex optimization methods. A problem for ellipsoidal approximation of stable state-spaces via optimization over linear matrix inequalities will be introduced.
Second, we give an outlook of the follow-up PhD project on "Nonlinear Model Predictive Control of Humanoid Robots" starting in January 2009 in Japan, and the inspirations that I got for this project in Leuven.

Short link	http://www.kuleuven.be/optec/event/843
Event type	Seminar
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Newsflash

Two OPTEC professors have been awarded three "Gouden Krijtjes", the yearly teaching awards given by the organization of engineering students (vtk). Prof. Lombaert was awarded the prize for the best course in civil engineering, and Prof. Diehl the prizes for the best professor and the best course in mathematical engineering (where he teaches numerical optimization). They received these awards at the yearly "proffentap" where experienced students taught them how to draft beer professionally.