|SUBJECT:||M.S. Thesis Presentation|
|TIME:||Wednesday, November 14, 2018, 3:00 p.m.|
|PLACE:||Whitaker Ford Building, 1232|
|TITLE:||Bipedal Robotic Walking on Granular Material: An Inertial and Kinematic Control Approach|
|COMMITTEE:||Dr. Daniel Goldman, Chair (Physics)
Dr. Gregory Sawicki (ME)
Dr. Anirdan Mazumdar (ME)
Bipedal robotic locomotion in granular media presents a unique set of challenges at the intersection of granular physics and robotic locomotion. In this project, we performed a series of systematic design implementations, trials and experiments to enable a 7 degree-of-freedom planar biped walker to robustly traverse granular inclines. We hypothesize that, through the optimization of open loop gait, variation of inertial properties, and development of contact area control, a robust locomotion system for biped robotic locomotion on granular media can be identified.