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PhD Defense - Nicholas Rotella
Tue, Dec 05, 2017 @ 02:00 PM - 04:00 PM
Thomas Lord Department of Computer Science
University Calendar
Tuesday, December 5th, 2 p.m. to 4 p.m, RTH 406
PhD Candidate: Nicholas Rotella
Title: Estimation-based control for humanoid robots
Abstract:
As sensor, actuator and processor technology continues to improve, humanoid robots have become more common in both academic and industrial environments. These robots have the potential to operate in complex environments built for humans given their form factor. However, the challenge of operating autonomously in unknown environments involves obtaining accurate estimates of the robot's state by fusing information from on-board sensors, and using these estimates for control in ways which allow robustness to uncertainty and disturbances. In this work, we propose methods for estimating important states of humanoid robots and evaluate the role of sensory information and state estimation in executing behaviors on a torque-controlled humanoid.
Committee:
Stefan Schaal
Ludovic Righetti
Laurent Itti
James Finley
Location: 406
Audiences: Everyone Is Invited
Contact: Lizsl De Leon
