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How can robots use their motors and sensors to move around in an unstructured environment? You will understand how to design robot bodies and behaviors that recruit more general limbs and appendages to apply physical forces that confer reliable mobility in a complex and dynamic world. We develop an approach to compose simple dynamic abstractions that partially automate the generation of complicated sensorimotor programs. Specific topics to be covered include: mobility in animals and robots, kinematics and dynamics of legged machines, and dynamic behavior design through energy landscapes.
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Professor of Electrical and Systems Engineering.
School of Engineering and Applied Sciences.
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