2018

Book: Dr. L. Wendt.

Summer 2017

ECE PhD Thesis: L. Wendt.
OPTIMAL NONLINEAR CONTROL AND ESTIMATION USING GLOBAL DOMAIN LINEARIZATION

    Abstract: tl;dr

Spring 2013

ECE MS Thesis: L. Wendt.
OPTIMAL ADAPTIVE CONTROL WITH ΘLQG

    Abstract: This thesis introduces ΘLQG, the hyper extension of the Linear Quadratic Gaussian Regulator, for solving general purpose (locally optimal) nonlinear adaptive control on multiple-input multiple-output systems. This approach can be used to stabilize an under-actuated under-observed nonlinear dynamic system with noisy measurements while simultaneously identifying system parameters. It requires a parameterized dynamic model with operation about equilibrium points. Its general construction can also be used in disturbance rejection, gain scheduling and reference tracking. Specific case examples are introduced.

Fall 2011 

Conference Workshop: S. Levinson, A. Silver, L. Wendt. Vision Based Balancing Tasks for the iCub Platform: A Case Study for Learning External Dynamics. Proceedings of the iCub and Friends: A Workshop on Open Source RoboticsWorkshop at the IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010).

Fall 2010

Conference Workshop: L. Majure, L. Niehaus, A. Duda, A. Silver, L. Wendt, S. Levinson. Integrating Language and Motor Function on a Humanoid Robot. Workshop proceedings of The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010).

Spring 2008

[IEEE] Symposium: M. Abrahantes, A. Silver, L. Wendt, D. Lithio. Construction and Control of a 4-Tetrahedron Walker Robot. Southeastern Symposium on System Theory, Fortieth vol: pgs. 343-346.

    Abstract: This work describes the construction of a 4- Tetrahedron Walker Robot using inexpensive material. The final hardware selection in building the robot will be covered. Both mechanical systems and the electronic control systems will be discussed in detail. A concept has been formulated to implement the control in the case of choreographic designed gaits or for a commands node position

Spring 2007

[IEEE] Symposium: M. Abrahantes, A. Silver, L. Wendt. Gait Design and Modeling of a 12-Tetrahedron Walker Robot. Southeastern Symposium on System Theory, Thirty-Ninth vol: pgs. 21-25.

    Abstract: This work describes the use of a simulating walking robot to model the tetrahedron walker robots being developed at NASA - Goddard Space Flight Center. As a contribution to the gait generation and motion control of the tetrahedron walker robots, a concept has been formulated to implement in the case of choreographic designed gaits. This work is part of the contribution of this Hope College team to the development of tetrahedron walker robots by the ANTS group at Goddard.