[Colloq] ECE Department NeuroComputing Search talk by Sam Burden

[David Kaeli]

*You are all invited to the following talk being held Tuesday March 25,
2014 3:30-5:00 in 442 Dana:*



*Title: Reduction and Identification for Models of Locomotion: *
*an Emerging Systems Theory for Neuromechanics*

*Sam Burden, University of California at Berkeley*
*442 Dana Research Center*


*March 25, 2014**3:30-5:00PM*

*Abstract:*
A central challenge in the design of cyberphysical systems arises from the
coupling between computational and mechanical components.  In this talk, I
focus on the dynamical interaction that occurs when a robot or animal moves
through its environment.  It has proven difficult to engineer such
neuromechanical systems despite the fact that organisms provide
proof-of-concept designs in many situations where robots struggle.
Studying the piecewise-defined ("hybrid") dynamics governing locomotion and
manipulation, I prove that models of periodic behaviors generically exhibit
reduction in the number of mechanical degrees-of-freedom due solely to the
interaction between the body and the environment.  Furthermore, I exploit
the structure of the reduced-order dynamics to derive a scalable algorithm
for parameter identification from motion capture data and apply this
technique to perturbation recovery in running cockroaches.  Finally, I
combine these analytical, computational, and experimental tools to propose
a foundation for systematically engineering neuromechanics.

*Bio:*
Sam Burden earned his BS with Honors in Electrical Engineering from the
University of Washington, Seattle.  Currently, he is a PhD candidate in
Electrical Engineering and Computer Sciences at the University of
California, Berkeley and expects to graduate in May of 2014.  He is broadly
interested in applying control and dynamical systems theory to study
neuromechanical and cyberphysical systems.  Specifically, he focuses on
discovering and formalizing principles that enable dynamic locomotion and
dexterous manipulation in robotics, biomechanics, and human motor control.
He is a recipient of the NSF Graduate Research Fellowship and collaborator
in the ARL Micro Autonomous Systems and Technology CTA.  In his spare time,
he teaches robotics to students of all ages in K-12 classrooms, Maker
Fairs, and campus events.

*Host:*
David Kaeli (kaeli at ece.neue.edu)
*________________________________________*
*Prof. David Kaeli*
*Dept. of Electrical and Computer Engineering*
*Northeastern University*
*333 Dana Research Center*
*Boston, MA 02115*
*(617)-373-5413*
*email: kaeli at ece.neu.edu <kaeli at ece.neu.edu>*
*________________________________________*