{"685933":{"#nid":"685933","#data":{"type":"event","title":"PhD Proposal by Juntao He","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle\u003C\/strong\u003E: A 2.5D Motion Planning Framework for Elongated Multi-Legged Robots in Unstructured and Confined Environments\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EDate\u003C\/strong\u003E: Tuesday, November 4th, 2025\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ETime\u003C\/strong\u003E: 3PM to 4PM ET\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ELocation\u003C\/strong\u003E: Howey building W 401 or \u003Ca href=\u0022https:\/\/gatech.zoom.us\/j\/9517447214?pwd=WHpHRkZNelFxQzhxR3B0SHVYRVB2dz09\u0022 title=\u0022https:\/\/gatech.zoom.us\/j\/9517447214?pwd=WHpHRkZNelFxQzhxR3B0SHVYRVB2dz09\u0022\u003EZoom Link\u003C\/a\u003E\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EJuntao He\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003ERobotics Ph.D. Student\u003C\/p\u003E\u003Cp\u003EWoodruff School of Mechanical Engineering\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ECommittee\u003C\/strong\u003E:\u003C\/p\u003E\u003Cp\u003EDr. Daniel I. Goldman\u0026nbsp;(advisor) \u2013\u0026nbsp;Schoold of Physics, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Sehoon Ha \u2013 School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. \u0026nbsp;Zeb Rocklin\u0026nbsp;\u2013 \u0026nbsp;Schoold of Physics, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Tony Chen \u2013 Woodruff School of Mechanical Engineering, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Baxi Chong\u0026nbsp;\u0026nbsp;\u2013 Department of Mechanical Engineering, The Pennsylvania State University\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EAbstract\u003C\/strong\u003E:\u003C\/p\u003E\u003Cp\u003EElongated multi-legged robots can maneuver through confined and irregular environments that challenge traditional wheeled or few-legged machines. However, their many-segmented, articulated bodies create unique motion planning challenges. This dissertation proposes a 2.5D motion planning framework that enables robust and efficient navigation in unstructured and confined spaces.\u003C\/p\u003E\u003Cp\u003EThe framework integrates geometric and probabilistic modeling of body\u2013environment interactions with reinforcement learning\u2013based controllers that coordinate adaptive body waves for forward motion, turning, and climbing. High-level path planning is guided by depth camera perception, while tactile feedback from antennae and foot sensors enables local trajectory adjustment and collision-aware movement.\u003C\/p\u003E\u003Cp\u003EThe research combines simulation, laboratory experiments, and field validation in pipelines, collapsed structures, and natural terrains. The results aim to advance motion planning theory and practice for high-degree-of-freedom robotic systems, broadening the capabilities of multi-legged robots in inspection, exploration, and search-and-rescue missions.\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E","summary":"","format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003EA 2.5D Motion Planning Framework for Elongated Multi-Legged Robots in Unstructured and Confined Environments\u003C\/p\u003E","format":"limited_html"}],"field_summary_sentence":[{"value":"A 2.5D Motion Planning Framework for Elongated Multi-Legged Robots in Unstructured and Confined Environments"}],"uid":"27707","created_gmt":"2025-10-22 19:40:20","changed_gmt":"2025-10-22 19:40:50","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2025-11-04T15:00:00-05:00","event_time_end":"2025-11-04T16:00:00-05:00","event_time_end_last":"2025-11-04T16:00:00-05:00","gmt_time_start":"2025-11-04 20:00:00","gmt_time_end":"2025-11-04 21:00:00","gmt_time_end_last":"2025-11-04 21:00:00","rrule":null,"timezone":"America\/New_York"},"location":"Howey building W 401 or Zoom Link","extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"102851","name":"Phd proposal"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}