PPT-Model Predictive Control for Humanoid Balance and Locomotion

Benjamin Stephens Robotics Institute Compliant Balance and Push Recovery Full body compliant control Robustness to large disturbances Perform useful tasks in human environments Motivation Improve the performance and usefulness of complex robots simplifying controller design by focusing on simpler models that capture important features of the desired behavior. Carnegie Mellon University. 9. th. IEEE-RAS International Conference on Humanoid Robots. December 8, 2009. Modeling and Control of Periodic Humanoid Balance Using the Linear Biped Model. Introduction. Benjamin Stephens. Thesis Proposal. Carnegie Mellon, Robotics Institute. November 23, 2009. Committee:. Chris . Atkeson. (chair). Jessica. . Hodgins. Hartmut. Geyer. Jerry Pratt (IHMC). 2. Thesis Proposal Overview. Philipp . Allgeuer. , Hafez . Farazi. , Michael Schreiber and Sven . Behnke. Autonomous Intelligent Systems. University of Bonn. Existing Standard Platforms. Existing Standard Platforms. Motivation. Why a new platform?. Predictive Modeling. . . encompasses a variety of techniques to analyze current and historical facts to make predictions about future events.. Predictive models . exploit patterns . found in historical and transactional data . December 2013, Jakub Miarka, University of Leeds. RapidMiner. Formerly called . YALE. (Yet Another Language Environment). Environment for . machine learning, data and text mining, predictive and business analytics. Crawling: limbs, limbless. Jumping. Burrowing. Climbing. Aquatic. Gliding. Quadrupedal. . . bipedal. Dynamic bipeds. Anatomy. Longer . hindlimbs. , longer feet. Few . presacral. vertebrae. Long tail. Team: The Game of Life . Charlie Andres, Long Du, Taylor Gallegan, Jessica Santos, Christopher Werner. 4/7/17. Uconn Goldenson Center Case Study; Case Study Courtesy of Prudential. Project Goals. Using Predictive Analytics in Experience Studies. Techniques . for Effective Prevention Programs. Raj Nagaraj, Ph.D. . Chief Technology Officer. Deccan International. OUTLINE. About Deccan. CRR And Predictive Modelling . Techniques. Predictive Modelling And Other Techniques (PM) . Cognitive & Non Cog Abilities. Personality. Criteria. Chap 3 Developing Predictive Hypotheses. 1. Conceptual & Operational Definitions. Predictors & Criteria. F. Kerlinger’s definitions. and Electrical Drives. Ralph M. Kennel, Technische Universitaet Muenchen, Germany. kennel@ieee.org. 1. Outline. Introduction. Predictive Control Methods. Trajectory Based Predictive Control. Hysteresis Based Predictive Control. . SYFTET. Göteborgs universitet ska skapa en modern, lättanvänd och . effektiv webbmiljö med fokus på användarnas förväntningar.. 1. ETT UNIVERSITET – EN GEMENSAM WEBB. Innehåll som är intressant för de prioriterade målgrupperna samlas på ett ställe till exempel:. Many bio-inspired methods:. Walk, jump, run, slide, skate, swim, fly, roll. Exception: . Powered wheel. Human invention. What’s the benefit?. Power vs. Attainable Speed . # of actuators. Structural complexity. Coping with uncertain futures. Dr Christophe Lazaro (. UCLouvain. ). Dr Marco Rizzi (UWA Law School). Introduction – technological context. development of artificial intelligence (AI) and digitization of life . By . Shepherd Fungura, . BCom. , FASSA, FIA. President of Actuarial Society of Zimbabwe . Group Chief Risk Officer at Old Mutual Zimbabwe. @. Insurance Institute of Zimbabwe Winter School – Monday 22 August 2016.