ITEE Ph.D confirmation seminar: Damien Kee, 11.00AM, Wed 02 Apr 2003

Gait Generation and Implementation for Humanoid Robotics

Speaker: Damien Kee, ITEE

When: 11.00AM, Wednesday 02 Apr 2003

Venue: 78-421

Host: Dr Gordon Wyeth

Abstract:

 
  Despite significant advances in recent years, the problem of
  performing robust and reliable walking for a humanoid robot remains
  largely unsolved. This presentation will explore previous approaches
  to locomotion for humanoid platforms, highlighting the successes and
  failures of different methods. The presentation will go on to
  describe the humanoid platform, "GuRoo", developed at the University
  of Queensland over the last two years.  Based on the exploration of
  previous work, and the nature of the GuRoo system, a proposal has
  been developed for a robust and reliable walking method that suits
  the GuRoo platform.

  The proposal addresses two issues: gait generation and motor
  control. A method of gait generation that has been recently trailed
  on the GuRoo platform is the use of evolutionary computation to find
  stable gaits. The presentation will show results based on an evolved
  gait, and how this work will be further developed. The issue of
  motor control remains unexplored.  The proposal identifies the use
  of cerebellar models as the basis for a learning control
  methodology.

Biography:

  
  Damien completed a bachelors degree in Electrical Engineering
  (Mechatronics Minor) at the University of Queensland in 2001.  He is
  currently undertaking a PhD in the field of Locomotion for Humanoid
  Robotics.

Type:

Ph.D confirmation

Contact:

Dr Gordon Wyeth, seminar host (wyeth@itee.uq.edu.au)
or Guido Governatori (ITEE seminar co-ordinator) (guido@itee.uq.edu.au)

ITEE seminar web page: http://www.itee.uq.edu.au/~seminar

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