Fractional-Order Control for Two-Legged Dynamic Walking
- Graduate Student: Kevin Leyden
- Principal Investigator: Dr. Bill Goodwine
- Funding: National Science Foundation
- Goal: To improve efficiency in walking robots by leveraging a novel control strategy
This research seeks greater efficiency for walking robots. Efficiency can be improved in two ways: better performance (i.e. less wasted motion) and reduced energy consumption. Fractional-order control is a pathway to both of these improvements because of the flexibility it offers in designing a control strategy.