Model-based Optimization for Humanoid and Wearable Robots?

Katja Mombaur, University of Heidelberg, Germany

Model-based Optimization for Humanoid and Wearable Robots?

In this talk, I give an overview of our research on motion optimization for humanoid and wearable robots. On the one hand, we are interested to improve the walking capabilities of humanoid robots in different terrains. Optimization based on realistic mechanical models of the robots is a very helpful tool since it can generate motions for such redundant, underactuated systems with multiple degrees of freedom and changing contacts that are feasible, stable and optimal. Optimization can also be applied to compliant robots.