Talk 05: A. De, Ghost Robotics | ICRA2021 WS on Legged Robots

ICRA 2021 Workshop on Legged Robots (Towards Real-World Deployment of Legged Robots) Title: Perception-aided control and planning with reduced order models Abstract Some benefits of utilizing reduced-order “template” models for control are some degree of robustness and insensitivity to variations in system parameters, as well as reduction in complexity and computational burden. While the workflow for implementing reactive or optimization-based control strategies that act on template models is well-understood, it is not yet obvious how best to incorporate perception information into this paradigm. Bio Avik is co-founder and CTO of Ghost Robotics, a startup company commercializing legged robotics in Philadelphia. The company currently has two products, a 45kg quadruped aimed at industrial applications, and a 12kg quadruped aimed at research applications. Previously, Avik completed a postdoc at Harvard SEAS advised by Rob Wood, where he researched design of micro-scale flapping robots,