The broad purpose of this work is to understand basic principles and laboratory robot implementations of sensory-motor control and integration. Such principles could make it possible to build robots that are more agile and dextrous than existing robots, and they could provide some insight into human and animal behavior. The project will use as a conceptual and experimental testbed, the locomotion of dynamic biped robots that balance themselves actively as they move. Within this context, the project will explore actively balanced walking and running, the generation of ballistic maneuvers like those used in gymnastics, task level control, and the mechanical design of legs for good dynamic performance. The work will involve the analysis of models of legged systems, development of control systems and mechanical designs, and experiments on simulations and laboratory robots.
