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Nelson RosaPh. D. studentAdviser: Kevin M. Lynch

My research is currently focused on hybrid mechanical systems that undergo impulsive effects (e.g. the dynamics of a bouncing ball). Robots that walk, hop, or brachiate fall within this class of mechanical systems. The goal of my work is to produce theoretical tools for planning, control, and estimation of these robots allowing them to move dynamically (e.g. acrobatically, aggressively, nimbly, quickly, etc.) in their environment. A major challenge is dealing with the nonsmooth equations of motion where traditional solution methods for problems in planning, control, and estimation may not apply.

One useful tool (with a freely available library) is using continuation methods to generate gaits for underactuated hybrid systems, such as bipeds and brachiators.  You can read more about generating gaits for hybrid systems and other related work on the Dynamic Locomotion research page.

I received a Bachelor of Engineering degree with an emphasis in Computer Engineering from The Thayer School of Engineering at Dartmouth College in 2006. I then worked for two years prior to attending Northwestern in the Fall of 2008.

Rosa, N., and K. M. Lynch, "Using Equilibria and Virtual Holonomic Constraints to Generate Families of Walking Gaits", Dynamic Walking Conference, Mariehamn, Finland, 06/2017. Google Scholar

Rosa, N., and K. M. Lynch, "Extending Equilibria to Periodic Orbits for Walkers using Continuation Methods", 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014. Google Scholar

Rosa, N., and K. M. Lynch, "Open-loop Stability of Time-based vs. Event-based Switching in Locomotion", Dynamic Walking Conference, 2013. Google Scholar

Rosa, N., and K. M. Lynch, "The Passive Dynamics of Walking and Brachiating Robots: Results on the Topology and Stability of Passive Gaits", International Conference on Climbing and Walking Robots, 2013. Google Scholar

Rosa, N., A. Barber, R. D. Gregg, and K. M. Lynch, "Stable open-loop brachiation on a vertical wall", Robotics and Automation (ICRA), 2012 IEEE International Conference on: IEEE, pp. 1193–1199, 2012. Google Scholar

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