Robust Control of Bipedal Locomotion: An H-Infinity Approach


Presented by the Control Systems Society, co-sponsored by the Robotics Society

The study of mechanical legged locomotion has been motivated by its potential use as means of locomotion in rough terrains, but in particular, the interest arises from diverse sociological and commercial interests, 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 implementation, good mechanical design and good modeling, play a very important role in achieving good performance. However, in real world applications bipedal robots are subject to many sources of uncertainty during walking; these could include a push from a human, an unexpected gust of wind, geometric perturbations of terrain height, or parametric uncertainties of non-modeled friction forces. For these reasons, the design of feedback control systems, capable of attenuating the effect of these uncertainties, is critical to achieve the desired walking gait.


This presentation deals with the applicability of the H 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.

  Date and Time




Staticmap?size=250x200&sensor=false&zoom=14&markers=32.893781%2c 117
  • Co-sponsored by Mike Borrello
  • Starts 17 July 2019 08:00 AM
  • Ends 14 August 2019 11:00 PM
  • All times are America/Los_Angeles
  • No Admission Charge
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Dr. Oscar Montano

Dr. Oscar Montano of 2J USA Laboratory


Oscar Montano has worked in research and development in the aerospace and telecommunications industry since 2008, and is a Certified Labview Developer and Instructor since 2016. He obtained his Master's degree in Electronics and Telecommunications from CICESE, Mexico, in 2012, and received his PhD degree in Controls Systems, Robotics and Automation from l'Universite de Nantes, France in 2016. He currently works as Electrical Design Engineer at the 2J USA laboratory in San Diego.

He has authored 7 articles in peer-reviewed journals, presented his results at 10 international congresses and written a book chapter. His current research interests include stability analysis, system identification, modeling and robust control of nonlinear systems.


6:00-6:30 Refreshments, networking

6:30-7:30 Presentation

Adjourn by 8:00 pm.

Free for members, IEEE, $5.00 at the door for non-members