Tara Bartlett
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Miss Tara Bartlett

Thesis work

Thesis title: Real-time Motion Planning Algorithms for Robot Traversability

Thesis abstract:

Bipedal robots are inherently unstable platforms. While previous work achieves fast traversal such as dynamic walking or running on flat ground, or statically stable traversal of unstructured terrain, combining these two capabilities in real time is still an open problem. In addition, when the robot is not statically stable, the traversability metric is impacted by the dynamics and the dynamics are impacted by the chosen footstep positions, indicating that this is a coupled problem. This thesis presents an algorithm capable of planning footsteps and foot/pelvis trajectories for bipedal robots. Experimental validation has been achieved on a Cassie robot in simulatd, synthetic and real-world environments. [This abstract currently contains work yet to be completed.]