Locomotion Dynamics & Control

3 Credits.

Graduate course on mechanics and control in locomotion. Topics include modeling (e.g. Lagrangian mechanics), dynamical systems theory (nonholonomic systems, limit-cycle behavior, Poincaré analysis, and Floquet theory), design (control synthesis, mechanical design), and data-driven modeling from animal locomotor control experiments. Prerequisites: A graduate course in linear systems theory (e.g. EN.520.601). Suggested background (not required): 530.475/675.