Nonlinear Control for Hybrid Dynamic Robotics

Our research lies at the intersection of applied Nonlinear Control and Hybrid Dynamic Robotics. Our goal is to design controllers for achieving dynamic, fast, energy-efficient, and robust maneuvers on hybrid and underactuated systems such as legged and aerial robots. This will require addressing the challenges of high degree-of-freedom, high degree-of-underactuation, nonlinear and hybrid systems with unilateral constraints, operating in stochastic and hard-to-model regimes. Our work has focused on creating dynamic bipedal locomotion - both walking and running, and dynamic aerial manipulation maneuvers.