Robotics Seminar: Anton Shiriaev

In this University of Michigan Robotics Seminar, Anton Shiriaev, Professor of Engineering Cybernetics at Norwegian University of Science and Technology, presents “Analytics and Computational Tools for Orbital Stabilization of Underactuated Mechanical Systems,“ on April 2, 2019. Shiriaev covers gaits of compass bipeds, motion of a pendulum cart, servo and holonomic constraints, transverse linearization, and the history of the problem from Paul Appell, George Hill, Nikolay Zhukovsky, and Henri Poincaré. For