RI | People | Jonathan W Hurst

Text only version of this site

Jonathan W Hurst PhD Student Associated center: CFR Email address: jhurst@cmu.edu Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 For more information, see my personal homepage.

Jump to: Research interests | Keywords | Labs & groups | Projects | Publications

Research interests

My interest is in controlled, highly dynamic systems; robots that move swiftly and require careful mechanical design due to fundamental limitations, such as motor inertia and torque limits. My research currently focuses on legged locomotion, which is an example of a system that pushes many actuator limits due to the impacts and large energy transfer of a running gait. Applications in force control are closely related.

Research interest keywords

actuators, control, legged locomotion, and mechanisms

Current Labs & Groups

Microdynamic Systems Laboratory - Exploring the limits of robotics in terms of speed, precision, dexterity and miniaturization.

Current Projects [Past projects]

Actuator with Mechanically Adjustable Series Compliance - We are developing actuation methods for highly dynamic legged locomotion.

The Electric Cable Differential (ECD) Leg - We are designing a bipedal robot to be capable of running, walking, jumping, hopping, and generally behaving in a highly dynamic manner.

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• The Role and Implementation of Compliance in Legged Locomotion
  J.W. Hurst
  doctoral dissertation, tech. report CMU-RI-TR-08-48, Robotics Institute, Carnegie Mellon University, August, 2008. [Abstract]
  Download: pdf [17358 KB] copyrighted

• A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running
  J.W. Hurst, B. Morris, J. Chestnutt, and A. Rizzi
  IEEE Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [162 KB], ps.gz [128 KB] copyrighted

• Design and Philosophy of the BiMASC, a Highly Dynamic Biped
  J.W. Hurst, J. Chestnutt, and A. Rizzi
  IEEE Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [386 KB], ps.gz [928 KB] copyrighted

• Physically Variable Compliance in Running
  J.W. Hurst and A. Rizzi
  CLAWAR, SPRINGER-VERLAG, www.springeronline.com, September, 2004. [Abstract]
  Download: pdf [118 KB], ps.gz [155 KB] copyrighted

• An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion
  J.W. Hurst, J. Chestnutt, and A. Rizzi
  Proceedings of the 2004 International Conference on Robotics and Automation, Vol. 5, May, 2004, pp. 4662 - 4667. [Abstract]
  Download: pdf [758 KB] copyrighted

• An Actuator with Mechanically Adjustable Series Compliance
  J.W. Hurst, J. Chestnutt, and A. Rizzi
  tech. report CMU-RI-TR-04-24, Robotics Institute, Carnegie Mellon University, April, 2004. [Abstract]
  Download: pdf [663 KB], ps.gz [856 KB] copyrighted