Lunedì, 25 giugno 2018
Department of Engineering Cybernetics
Norwegian University of Science and Technology
Motion planning and motion representation for performing dynamic manipulations
Abilities and skills in performing dynamic manipulations by humans appear in course of life-long training and experimentations. As a result, most of humans can readily manipulate or learn quickly how to manipulate external objects and environments without a firm grip or re-grasping for reorientating or moving. Here one can think of grasping and moving a wet soap when cleaning hands, think of controlled rolling basketball ball on a palm in throwing it to the goal, think of manipulating knife in cutting soft materials etc. Humans can manipulate objects for the purpose even objects can slide or roll being in contact. The talk is focused on discussion of model-based approaches for developing some of similar functionalities for robots. The intention is examined by developing a solution for performing a rolling of passive objects (disc) on a robotic hand. Necessary mathematical concepts and arguments for the task are presented. Importance, relevance and scalability of the reasoning are supported by successful experimental studies on the robot.
Anton S. Shiriaev received MSc and PhD degrees both in Applied Mathematics from St. Petersburg State University, Russia, in 1993 and 1997 respectively. Since 2009 he is full professor in Automatic Control at the Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway. Dr. Shiriaev held (permanent and visiting) positions in a number of universities in Europe, Asia and USA, including Lund and Umea Universities (Sweden), the University of Seville (Spain), the CNRS (France), the Mittag-Leffler Institute of the Royal Swedish Academy of Sciences (Sweden), Universities of Aalborg and Odense (Denmark), the Sungkyunkwan University, Suwon (Republic of Korea), the Tokyo Institute of Technology (Japan), Russian Academy of Sciences (St. Petersburg) and University of Texas at Dallas (USA). He has published more than 150 scientific papers on subjects of systems and control theory, robotics and mechatronics. His research activities have been supported by the Swedish, Danish and Norwegian Research Councils, as well as private companies (SveaSkog AB, Komatsu Forest AB).