{"592589":{"#nid":"592589","#data":{"type":"event","title":"Ph.D. Thesis Defense:  Michael X. Grey","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003EPh.D. Thesis Defense by\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Ch2\u003E\u003Cstrong\u003EMichael X. Grey\u003C\/strong\u003E\u003C\/h2\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003E(Advisor:\u0026nbsp; Prof. Karen C. Liu)\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ETuesday,\u0026nbsp;June\u0026nbsp;20th, 2017 @ 12:00pm EDT\u003Cbr \/\u003E\r\nTechnology Square Research Building (TSRB) 222\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Ch2\u003E\u003Cstrong\u003E\u0026ldquo;\u003C\/strong\u003E\u003Cstrong\u003EHigh Level Decomposition for Bipedal Locomotion Planning\u0026rdquo;\u003C\/strong\u003E\u003C\/h2\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EAbstract:\u003C\/strong\u003E\u003Cbr \/\u003E\r\nLegged robotic platforms offer an attractive potential for deployment in hazardous scenarios that would be too dangerous for human workers. Legs provide a robot with the ability to step over obstacles and traverse steep, uneven, or narrow terrain. Such conditions are common in dangerous environments, such as a collapsing building or a nuclear facility during a meltdown. However, identifying the physical motions that a legged robot needs to perform in order to move itself through such an environment is particularly challenging. A human operator may be able to manually design such a motion on a case-by-case basis, but it would be inordinately time-consuming and unsuitable for real-world deployment.\u003C\/p\u003E\r\n\r\n\u003Cp\u003EThis thesis presents a method to decompose challenging large-scale motion planning problems into a high-level planning problem and a set of parallel low-level planning problems. We apply the method to quasi-static bipedal locomotion planning. The method is tested in a series of simulated environments that are designed to reflect some of the challenging geometric features that a robot may face in a disaster scenario. We analyze the improvement in performance that is provided by the high- and low-level decomposition, and we show that completeness is not lost by this decomposition.\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ECommittee Members:\u003C\/strong\u003E\u003Cbr \/\u003E\r\nDr. C. Karen Liu (Advisor), School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Aaron D. Ames (Advisor), Mechanical and Civil Engineering \u0026amp; Control and Dynamical Systems, California Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Magnus\u0026nbsp;Egerstedt, School of Electrical and Computer Engineering, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Kris Hauser, Department of Electrical and Computer Engineering \u0026amp; Department of Mechanical Engineering and Computer Science\u0026nbsp;\u0026amp; Department of Computer Science, Duke University\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Matt Zucker, Engineering Department, Swarthmore University\u003C\/p\u003E\r\n","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"\u201cHigh Level Decomposition for Bipedal Locomotion Planning\u201d"}],"uid":"33975","created_gmt":"2017-06-12 13:21:03","changed_gmt":"2017-06-12 13:21:03","author":"Margaret Ojala","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2017-06-20T13:00:00-04:00","event_time_end":"2017-06-20T15:00:00-04:00","event_time_end_last":"2017-06-20T15:00:00-04:00","gmt_time_start":"2017-06-20 17:00:00","gmt_time_end":"2017-06-20 19:00:00","gmt_time_end_last":"2017-06-20 19:00:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"1239","name":"School of Aerospace Engineering"}],"categories":[],"keywords":[{"id":"2082","name":"aerospace engineering"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1795","name":"Seminar\/Lecture\/Colloquium"}],"invited_audience":[{"id":"78761","name":"Faculty\/Staff"},{"id":"78771","name":"Public"},{"id":"174045","name":"Graduate students"},{"id":"78751","name":"Undergraduate students"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}