Traiko Dinev

In this project, I will study optimal control for dynamic locomotion applied to legged robots. Optimal control generates motion trajectories for the robot for a specified task. I will apply optimal control methods to study how to optimize both the control and design of the robot (co-design). In the project I will examine different environments (e.g. flat terrain and steps), tasks (e.g. walking, trotting, and jumping) and cost functions that define the efficiency of the motion.

Publications: Google Scholar Profile