Design for Legged Robots

Understanding and characterizing the tradeoff between power and information in robotics.

Actuator Comparison: Actuators need to be able to sense the world without exerting large forces

Challenges: Formalizing physical insights and generalizing examples.

Why this research is exciting: This is a pretty new area, but the bias is that explicit sensors are needed to measure interaction forces and we seek to characterize what happens when the motor is used as a sensor instead.


Gavin Kenneally‘s role: Gavin is the principal investigator of this subject with Dan Koditschek.