IJS KOLOKVIJ, petek, 01. 04. 2016; ob 13. uri; prof. dr. Ludovic Righetti

[Tanja Debevec]

Vabimo vas na 16. predavanje iz sklopa "Kolokviji na IJS" v letu 2015/16, ki bo v petek, 01. aprila 2016, ob 13. uri v Veliki predavalnici Instituta »Jožef Stefan«  na Jamovi cesti 39 v Ljubljani. Napovednik predavanja najdete tudi na naslovu http://www.ijs.si/ijsw/Koledar_prireditev, posnetke preteklih predavanj pa na http://videolectures.net/kolokviji_ijs. 

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prof. dr. Ludovic Righetti

Max-Planck Institute for Intelligent Systems, Tübingen, Nemčija

 

 

Izkoriščanje kontaktov za robustno manipulacijo ter hojo

 

S katerimi algoritmičnimi pristopi lahko omogočimo robotom, da tečejo po skalnatem terenu, privzdignejo kavč medtem, ko se stegujejo po objekt, ki se je skotalil podenj, ali pa privijajo vijak med lovljenjem ravnotežja na vrhu lestve? Z našimi raziskavami želimo odgovoriti na to na prvi pogled naivno vprašanje, ki pa v osnovi zahtevajo razumevanje osnovnih načel robotske hoje in manipulacije. Pomemben vidik našega dela je iskanje optimalne izrabe kontaktov med robotom in okoljem, da bi ustvarili robustnejša in učinkovitejša gibanja v nepoznanih ter stalno spreminjajočih se okoljih. Prikazali bomo najnovejše rezultate vodenja hodečih robotov z uporabo optimizacijskih tehnik za vodenje in regulacijo kontakta z okoljem ter same hoje v realnem času. V drugem delu predavanja se bomo osredotočilo na podajno manipulacijo. Razvili smo celovite sisteme, ki omogočajo izvajanje kompleksnih avtonomnih manipulacijskih nalog. Pokazali bomo, kako lahko uporabimo multimodalne senzorske informacije za ustvarjanje zelo odzivnih gibanj in za učenje kontaktnih interakcij z metodami strojnega učenja.

Predavanje bo v angleščini.

Lepo vabljeni!

 

 

 




We invite you to the 16th Institute colloquium in the academic year 2015/16. The colloquium will be held on Friday April 01, 2016 at 1 PM in the main Institute lecture hall, Jamova 39, Ljubljana. To read the abstract click  http://www.ijs.si/ijsw/Koledar_prireditev. Past colloquia are posted on  http://videolectures.net/kolokviji_ijs.

 

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prof. dr. Ludovic Righetti

Max-Planck Institute for Intelligent Systems, Tübingen, Germany

 

 

Exploiting contact interactions for robust manipulation and locomotion skills

 

 

What are the algorithmic principles that would allow a robot to run through a rocky terrain, lift a couch while reaching for an object that rolled under it or manipulate a screwdriver while balancing on top of a ladder? Our research tries to answer this seemingly naive question, which in fact resorts to understanding the fundamental principles of robotic locomotion and manipulation. One important aspect of our work focuses on the optimal exploitation of contact interactions between the robot and its environment to create more robust and efficient behaviors in uncertain and constantly changing environments. In particular, we will show recent results on legged robot control, where we use optimization techniques for real-time control of both contact interactions and robot motion. We will show experimental results on a torque controlled humanoid robot and recent trajectory optimization techniques to efficiently plan motion together with interaction forces during locomotion. The second part of the talk will focus on compliant manipulation. We developed complete systems capable of achieving complex autonomous manipulation tasks and we will show how the use of multimodal sensory information can be exploited to create very reactive behaviors and to learn contact interactions using machine learning techniques.

 

Cordially invited!

 

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