Talk 10: J. Hurst, Agility Robotics | ICRA2021 WS on Legged Robots

ICRA 2021 Workshop on Legged Robots (Towards Real-World Deployment of Legged Robots) Title: Robots for a Human World Abstract Legged locomotion is cyclic dynamical behavior, but legged robots in the real world must do much more than just locomote. Still, the lowest-level dynamics, even the passive dynamics, are a critical foundation for everything: and levels of a control hierarchy are emergent from features of the behaviors. For example, impact dynamics are governed by inertias and compliances in a mechanism; but control of a gait is governed by step placement. We are working our way up from the bottom, and in this talk, I show a number of examples of behaviors through different levels of the control hierarchy. I’ll end with another important feature of legged robot deployments in the real world: our business vision at Agility Robotics. Bio Jonathan W. Hurst is a Professor of Robotics, co-founder of the Oregon State University Robotics Institute, and Chief Technology Officer and co