Hierarchical Perspective on Robotic Control

Explore a comprehensive lecture on hierarchical controllers in robotic systems presented by Noel Csomay-Shanklin, a PhD student at Caltech. Delve into the complexities of robotic control as systems become more capable and autonomous, focusing on hierarchical control architectures as a solution for efficient, systematic, and generalizable design processes. Examine recent achievements in dynamically stable behaviors for a 3D hopping robot and a planar biped. Gain insights into geometric and nonlinear control, with emphasis on their integration into hierarchical pipelines. Learn from Csomay-Shanklin's expertise in model-based methods for legged robotic systems control, formal guarantees in multi-layer hierarchies, and the application of control theory concepts to structured learning problems. Discover why his work on controlling a 3D hopping robot earned the Outstanding Dynamics and Control Paper Award at ICRA 2023.