Dynamic multimodal locomotion: a quick overview of hardware and control

Abstract

This work was made possible by all those at SiliconSynapse Lab at Northeastern University who assisted me during the process of my thesis. Prof. Alireza Ramezani, my primary adviser, has supported and believed in me from the very first day of my graduate studies. He has been instrumental in guiding and challenging me throughout my research career, in addition to giving me the opportunity to work on extremely interesting and exciting projects. I would also like to thank all of my lab mates, including Kaushik, chenghao, Adarsh, Aniket, Bibek, Xuejian, and Yizhe for their help with hardware, experiments, control design, simulation, and consistent encouragement. I would also like to thank Prof. Rifat Sipahi serving as my mechanical engineering department coadviser and thesis reader. Finally, none of this would be possible without the support of my parents and my brother. Throughout my life, they have always pushed me to be better and been behind me every step of the way for all the things I've wanted to achieve. vi