BEGIN:VCALENDAR VERSION:2.0 PRODID:IEEE vTools.Events//EN CALSCALE:GREGORIAN BEGIN:VTIMEZONE TZID:America/Los_Angeles BEGIN:DAYLIGHT DTSTART:20190310T030000 TZOFFSETFROM:-0800 TZOFFSETTO:-0700 RRULE:FREQ=YEARLY;BYDAY=2SU;BYMONTH=3 TZNAME:PDT END:DAYLIGHT BEGIN:STANDARD DTSTART:20191103T010000 TZOFFSETFROM:-0700 TZOFFSETTO:-0800 RRULE:FREQ=YEARLY;BYDAY=1SU;BYMONTH=11 TZNAME:PST END:STANDARD END:VTIMEZONE BEGIN:VEVENT DTSTAMP:20190817T192619Z UID:CFCF8E90-0ED3-411F-8CD3-255DCF42B9DC DTSTART;TZID=America/Los_Angeles:20190815T180000 DTEND;TZID=America/Los_Angeles:20190815T200000 DESCRIPTION:The study of mechanical legged locomotion has been motivated by its potential use as means of locomotion in rough terrains\, but in parti cular\, the interest arises from diverse sociological and commercial inter ests\, ranging from the desire to replace humans in hazardous occupations (de-mining\, nuclear power plant inspection\, military interventions\, etc .)\, to the restoration of motion in the disabled. For practical implement ation\, good mechanical design and good modeling\, play a very important r ole in achieving good performance. However\, in real world applications bi pedal robots are subject to many sources of uncertainty during walking\; t hese could include a push from a human\, an unexpected gust of wind\, geom etric perturbations of terrain height\, or parametric uncertainties of non -modeled friction forces. For these reasons\, the design of feedback contr ol systems\, capable of attenuating the effect of these uncertainties\, is critical to achieve the desired walking gait.\n\nThis presentation deals with the applicability of the H infinity control technique to two differen t humanoid robots: the 32 degrees-of-freedom biped robot ROMEO\, of Aldeba ran Robotics\; and the 2D planar biped RABBIT\, housed in LAG\, the Automa tic Control Laboratory of Grenoble. Results\, challenges\, and state of th e art are discussed.\n\nCo-sponsored by: Mike Borrello\n\nSpeaker(s): Dr. Oscar Montano\, \n\nAgenda: \n6:00-6:30 Refreshments\, networking\n\n6:30- 7:30 Presentation\n\nAdjourn by 8:00 pm.\n\n10401 Roselle Street\, San Die go\, California\, United States\, 92121 LOCATION:10401 Roselle Street\, San Diego\, California\, United States\, 92 121 ORGANIZER:maborrello@roadrunner.com SEQUENCE:2 SUMMARY:Robust Control of Bipedal Locomotion: An H-Infinity Approach URL;VALUE=URI:https://events.vtools.ieee.org/m/201474 X-ALT-DESC:Description: <br /><p>The study of mechanical legged locomotion has been motivated by its potential use as means of locomotion in rough te rrains\, but in particular\, the interest arises from diverse sociological and commercial interests\, ranging from the desire to replace humans in h azardous occupations (de-mining\, nuclear power plant inspection\, militar y interventions\, etc.)\, to the restoration of motion in the disabled. Fo r practical implementation\, good mechanical design and good modeling\, pl ay a very important role in achieving good performance. However\, in real world applications bipedal robots are subject to many sources of uncertain ty during walking\; these could include a push from a human\, an unexpecte d gust of wind\, geometric perturbations of terrain height\, or parametric uncertainties of non-modeled friction forces. For these reasons\, the des ign of feedback control systems\, capable of attenuating the effect of the se uncertainties\, is critical to achieve the desired walking gait.</p>\n< p>&nbsp\;</p>\n<p>This presentation deals with the applicability of the <e m>H</em> infinity control technique to two different humanoid robots: the 32 degrees-of-freedom biped robot ROMEO\, of Aldebaran Robotics\; and the 2D planar biped RABBIT\, housed in LAG\, the Automatic Control Laboratory of Grenoble. Results\, challenges\, and state of the art are discussed.</p ><br /><br />Agenda: <br /><p>6:00-6:30 Refreshments\, networking</p>\n<p> 6:30-7:30 Presentation</p>\n<p>Adjourn by 8:00 pm.</p> END:VEVENT END:VCALENDAR