Mechanical Engineering Commons^™

Energy-Economical Heuristically Based Control Of Compass Gait Walking On Stochastically Varying Terrain, Christian Hubicki

Master’s Theses

Investigation uses simulation to explore the inherent tradeoffs ofcontrolling high-speed and highly robust walking robots while minimizing energy consumption. Using a novel controller which optimizes robustness, energy economy, and speed of a simulated robot on rough terrain, the user can adjust their priorities between these three outcome measures and systematically generate a performance curveassessing the tradeoffs associated with these metrics.