Towards Perceptive Locomotion for Legged Robots: A Model-based Attempt
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Legged robots have attracted considerable attention from both academia and industry in recent years, thanks to their superiorities of traversing complex terrains and accomplishing complex tasks as compared to traditional wheeled mobile robots. These advantages make them well suited for various applications such as industrial surveillance, search and rescue, last-mile delivery, among others. As opposed to the rapid advancements of hardware designs of legged robots, how to synthesize robust and efficient perceptive locomotion control schemes remains a crucial question in the literature.
This talk will present our recent works on model-based approaches towards a systematic perceptive locomotion framework. Developments of highly agile and robust locomotion strategies as well as associated perception schemes enabling perceptive locomotion for legged robots will be discussed. The results will be presented along with various hardware experimental validations based on commercial platforms as well as legged robots custom designed and built by our lab.
Dr. Hua CHEN received his B.E. degree in Automation and an honorary degree in Chu-Ko-Chen college from Zhejiang University in 2012, and his Ph.D. degree in Electrical and Computer Engineering from the Ohio State University in 2018. He was a post-doctoral researcher with the same University from Jan. 2019 to June. 2019. Then, he joined with the Department of Mechanical and Energy Engineering at the Southern University of Science and Technology as a research assistant professor, where he is currently a research associate professor.
His research interests lie broadly in the interdisciplinary area between control, optimization, and learning, with applications in robotics. One recent focus is to develop reliable perceptive mobile manipulation schemes for legged robots. He is a member of IEEE and has served as the associate editor for ICCA and reviewer for various journals and conferences.