Research in AMBER Lab
The research in AMBER Lab ranges from bipedal robotic walking to prosthesis to formal hybrid systems theory to cyber-physical and automotive systems. Below you will find videos demonstrating results on:
For more videos, see http://www.youtube.com/user/ProfAmes
Nonlinear Control Theory
Develop novel nonlinear controllers for highly dynamic robotic systems. The lab specializes in the use of hybrid system models of robotic locomotion, and application of hybrid zero dynamics, to achieve stable walking motions. Nonlinear constrained optimization problems yield stable trajectories through this framework. Online optimization-based nonlinear controllers are developed through the use of control Lyapunov functions for stability and control barrier functions for safety.
Experimental Bipedal Robotics
Verifying formal theories on physical robots, and specifically bipedal robots. Currently, AMBER lab works with the custom built robot AMBER 3M and Cassie (built by agility robotics). Additionally, the lab works on the custom-built prosthesis, AMPRO, along with a variety of other robotic platforms from hopping robots to flying robots. Finally, the methods have been applied on a variety of robots through collaborative efforts.
Translating robotic walking to obtain stable robust and efficient locomotion on lower-limb prosthesis. In particular:
- Design of novel prosthesis, including: AMPRO, a custom built transfemoral power prosthesis.
- Translating robotic walking to prosthesis through the framework of human-inspired control
- Implementation of advanced nonlinear controllers on prosthesis, including control Lyapunov function based quadratic program based control (CLF-QPs)
Formal methods for general cyber-physical systems, with a special focus on guaranteeing safety. Specifics methods that are being developed include:
- A novel form of control barrier function that, when utilized in a quadratic program based feedback controller, allows for probably safe system operation
- The use of fixed-point and abstraction based formal methods for the synthesis of provably correct controllers.
- Applications to: automotive systems, walking robots, flying robots, rolling robots, robots for space exploration, and robots for entertainment.