BEGIN:VCALENDAR METHOD:PUBLISH PRODID:-//Apple Computer\, Inc//iCal 1.0//EN X-WR-CALNAME;VALUE=TEXT:USC VERSION:2.0 BEGIN:VEVENT DESCRIPTION:Tuesday, December 5th, 2 p.m. to 4 p.m, RTH 406\n \n PhD Candidate: Nicholas Rotella\n \n Title: Estimation-based control for humanoid robots\n \n Abstract:\n 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.\n \n Committee:\n Stefan Schaal\n Ludovic Righetti\n Laurent Itti\n James Finley\n SEQUENCE:5 DTSTART:20171205T140000 LOCATION: 406 DTSTAMP:20171205T140000 SUMMARY:PhD Defense - Nicholas Rotella UID:EC9439B1-FF65-11D6-9973-003065F99D04 DTEND:20171205T160000 END:VEVENT END:VCALENDAR