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VERSION:2.0
PRODID:-//University of Liverpool Computer Science Seminar System//v2//EN
BEGIN:VEVENT
DTSTAMP:20260922T121958Z
UID:Seminar-dept-1280@lxserverM.csc.liv.ac.uk
ORGANIZER:CN=Lutz Oettershagen:MAILTO:Lutz.Oettershagen@liverpool.ac.uk
DTSTART:20250715T130000
DTEND:20250715T140000
SUMMARY:School Seminar Series
DESCRIPTION:Ahmed Chemori: Walking Gait Control: From Bipeds to Quadrupeds\n\nWalking gait control is one of the most important research problems in humanoid and legged robotics.\n\nThe first part of the talk will be devoted to walking gait control, where this problem is resolved through a human-data-based control architecture for pattern generation and dynamic walking control. The proposed method in this case deals with whole-body control, where a motion capture system is used to acquire the necessary data to reproduce human-like motions on a humanoid robot. However, unlike most of the existing techniques, where a large amount of data is used, only feet and CoM positions are needed to describe the most relevant features of a human walking. The redundancy in the humanoid model is then considered to track these two objectives using task formalism. The proposed solution is validated through numerical simulations and real-time experiments on the humanoid robot HOAP3 for various motion scenarios.\n\nThe second part of the talk addresses the problem of walking gait control for quadruped robots on soft, wet grounds, such as mud, sand, or forest soils. The proposed solution is based on a controller designed with several versions with increasing complexity that use a combination of a creeping gait, a foot–substrate interaction detection, a model-based center of mass positioning, and a leg speed monitoring, along with their experimental validation in a tank filled with mud, and demonstrations in natural environments. All the implemented controllers are tested on the Go1 quadruped robot and also compared in terms of performance with the commercially available dynamic gait controller of Go1.\n\n\n\nhttps://www.csc.liv.ac.uk/research/seminars/abstract.php?id=1280
LOCATION:Ashton Lecture Theatre
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