Robert D. Gregg IVUniversity of Illinois at Urbana-Champaign | |
Ph.D. CandidateGraduate Research Assistant Decision and Control Laboratory Coordinated Science Laboratory President, ECE Graduate Student Association Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign E-mail: rgregg AT uiuc DOT edu Adviser: Prof. Mark W. Spong Graduate Student Senator Chair, Graduate and Professional Affairs Committee Illinois Student Senate Urbana-Champaign Senate | |
Education HistoryBachelor of Science, 2006Christie Senior Research Scholar Arthur M. Hopkin Scholar Warren Dere Design Award Department of Electrical Engineering and Computer Sciences University of California, Berkeley Master of Science, 2007 Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Master's thesis, University of Illinois at Urbana-Champaign, December 2007. Graduate Coursework
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Current WorkSubrobots: Reduction-based Control of Bipedal Walking RobotsBipedal walking robots have been an area of interest for the past few decades. The implications of understanding this form of locomotion are great due to its human application. The potential for improving prosthetic limbs, navigating uneven terrestrial surfaces, and creating efficient locomotive mechanisms are among the many incentives that drive research in this field. The first of these applications is of particular interest: if we can teach robots to mimic humanoid walking, then we could build intelligent robotic prosthetics for assisted human walking. Traditional control and analysis methods become impractical with complex 3-D walking robots, motivating research in reduction-based control (based on extensions from geometric mechanics, passivity-based control, and zero dynamics) to reduce dynamics into lower-dimensional control problems. We discovered a geometric property of general robots that led to the Subrobot Theorem, which shows that any robot can be reduced to an arbitrarily lower-dimensional "subrobot" (while separately controlling the reduced degrees-of-freedom). Consequently, we have designed reduction-based control laws to achieve the first theoretical results in directional 3-D dynamic bipedal walking. ![]()
Simulation Movies: (Note: If you have trouble viewing these movies through your browser, try downloading and then opening them. If you still have a codec problem, download the Intel codec bundle here -- you might have to refresh a few times to get the page to load.)
To appear in the 2008 American Control Conference, Seattle, WA. Finalist for Best Student Paper Award! In the 2007 Conference on Decision and Control, New Orleans, LA. | |
Previous WorkBipedal Robotic WalkingCHESS Bipedal Walking Group Center for Hybrid and Embedded Software Systems Department of Electrical Engineering and Computer Sciences University of California, Berkeley Advisers: Dr. Aaron Ames and Prof. Shankar Sastry In the 2007 American Control Conference, New York City, New York. In the IFAC 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNL'06), Nagoya, Japan. Simulation Movies:
In the 2006 American Control Conference, Minneapolis, MN. | |
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Autonomous Mechatronic Racing Mechatronics Design Laboratory Department of Electrical Engineering and Computer Sciences University of California, Berkeley Adviser: Prof. Ron Fearing Team 9 (Pathfinder): Rick Mann, John Breneman, Robert Gregg NATCAR 2006 1st Place Finishers | |
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Berkeley Engineering News, November 10, 2006 Vol. 77, no. 13F. NATCAR Movies: | |
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Hybrid Teleoperated/Autonomous Robotic Observatories Collaborative Observatories for Natural Environments: CONE 1.0 Berkeley Automation Science Laboratory Department of Electrical Engineering and Computer Sciences Department of Industrial Engineering and Operational Research University of California, Berkeley Adviser: Prof. Ken Goldberg Teaching Tutor, Self-Paced Center Department of Computer Science University of California, Berkeley Adviser: Dr. Daniel Garcia | |
LinksThese are some links to individuals and organizations that I currently work with or that have helped me get to where I am today.Illinois
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