Dana Sharon

Activities and Societies: * Reviewed papers for SIGGRAPH, IEEE Computer Graphics & Applications special issue on Sketching, Robotics and Autonomous Systems, Special Issue on Morphology, Control and Passive Dynamics, and Computer Graphics Forum. Invited Talks: • Eurographics Workshop on Sketch-Based Interfaces and Modeling, Dublin, Ireland, Aug ’05 • University College London, London, UK, Jul ’05 • International Conference on Robotics and Automation, Barcelona, Spain, Apr ‘05 • Inria, Bordeaux, France, Apr ’05

Thesis: “Synthesis of Controllers for Stylized Planar Bipedal Walking”. Publication: Dana Sharon and Michiel van de Panne Synthesis of Controllers for Stylized Planar Bipedal Walking. ICRA 2005: International Conference on Robotics and Automation. Barcelonia, Spain, April 18-22, 2005. Abstract—: We present a method for computing controllers for stable planar-biped walking gaits that follow a particular style. The desired style is specified with a kinematic target trajectory. A nearest-neighbor controller representation is used and its free parameters are optimized using a local parameter search technique. The optimization function is constructed by integrating a mass-distance metric over xed time intervals, which to measure the deviation of a simulated motion from a desired target motion. We demonstrate simulated bipedal walks having different styles, dimensions, and walks that are robust with respect to unobserved terrain variations and modeling errors.