27. November 2017 - 13:00 Uhr
Von: Dr. Máximo A. Roa

Planning and control of robotic multi-contact interactions: manipulation and locomotion

Interaction of robots with the real world requires making and breaking multiple contacts with the environment, either for robot balancing and locomotion or for grasping and manipulation of objects. Planning and control issues for such interactions will be discussed during the talk. Design tools and planning approaches will be discussed for both problems. Then, the focus will shift to application of passivity-based impedance controllers, based on joint torque sensing, for guaranteeing robust interactions that can cope either with positional uncertainties of the object (manipulation) or with uncertainties in the supporting surface (locomotion).

Seminarraum 117
Robert-Hooke-Str. 5
zuletzt geändert am 10.11.2017
nach oben