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</o:shapelayout></xml><![endif]--></head><body lang=SL link=blue vlink=purple><div class=WordSection1><p class=MsoNormal>Vabimo vas na 16. predavanje iz sklopa "Kolokviji na IJS" v letu 2015/16, ki bo <strong><span style='color:red'>v petek, 01. aprila 2016, ob 13. uri </span></strong><span style='color:red'>v Veliki predavalnici Instituta »Jožef Stefan«</span> na Jamovi cesti 39 v Ljubljani. Napovednik predavanja najdete tudi na naslovu <a href="http://www.ijs.si/ijsw/Koledar_prireditev">http://www.ijs.si/ijsw/Koledar_prireditev</a>, posnetke preteklih predavanj<span style='color:blue'> </span>pa na <a href="http://videolectures.net/kolokviji_ijs">http://videolectures.net/kolokviji_ijs</a>. <o:p></o:p></p><p class=MsoNormal style='margin-bottom:12.0pt'>~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~<o:p></o:p></p><p class=MsoNormal><b><span lang=EN-US style='mso-fareast-language:ZH-CN'>prof. dr. Ludovic Righetti<i><o:p></o:p></i></span></b></p><p class=MsoNormal><i><span lang=EN-US style='mso-fareast-language:ZH-CN'>Max-Planck Institute for Intelligent Systems, Tübingen, Nemčija<o:p></o:p></span></i></p><p class=MsoNormal><b><span style='font-size:14.0pt'><o:p> </o:p></span></b></p><p class=MsoNormal><b><span style='font-size:14.0pt'><o:p> </o:p></span></b></p><p class=MsoNormal align=center style='text-align:center'><b><span lang=EN-US style='font-size:14.0pt;font-family:"Cambria","serif";mso-fareast-language:EN-GB'>Izkoriščanje kontaktov za robustno manipulacijo ter hojo<o:p></o:p></span></b></p><p class=MsoNormal style='text-align:justify'><span style='font-size:11.0pt;font-family:"Arial","sans-serif"'><o:p> </o:p></span></p><p class=MsoNormal style='mso-margin-top-alt:auto;margin-bottom:12.0pt;text-align:justify'><span lang=EN-US style='font-size:11.0pt;font-family:"Cambria","serif";mso-fareast-language:EN-GB'>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.<o:p></o:p></span></p><p class=MsoNormal style='mso-margin-top-alt:auto;margin-bottom:12.0pt;text-align:justify'>Predavanje bo v angleščini.<o:p></o:p></p><p class=MsoNormal style='mso-margin-top-alt:auto;margin-bottom:12.0pt'><strong><span style='font-family:"Calibri","sans-serif";color:red'>Lepo vabljeni!</span></strong><strong><span style='font-weight:normal'><o:p></o:p></span></strong></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal><o:p> </o:p></p><span style='font-size:12.0pt;font-family:"Times New Roman","serif";mso-fareast-language:SL'><br clear=all style='page-break-before:always'></span><p class=MsoNormal><span style='color:black'>We invite you to the 16th Institute colloquium in the academic year 2015/16. The colloquium will be held <b>on Friday April 01, 2016 at 1 PM</b> in <b>the main Institute</b></span><b><span style='color:#1F497D'> </span><span style='color:black'>lecture hall</span></b><span style='color:black'>, Jamova 39, Ljubljana. To read the abstract click </span><span style='color:#1F497D'><a href="http://www.ijs.si/ijsw/Koledar_prireditev">http://www.ijs.si/ijsw/Koledar_prireditev</a>. </span><span style='color:black'>Past colloquia are posted on</span><span style='color:#1F497D'> <a href="http://videolectures.net/kolokviji_ijs">http://videolectures.net/kolokviji_ijs</a>.<o:p></o:p></span></p><p class=MsoNormal><span style='color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal style='margin-bottom:12.0pt'>********************************************<b><o:p></o:p></b></p><p class=MsoNormal><b><span lang=EN-US>prof. dr. Ludovic Righetti<i><o:p></o:p></i></span></b></p><p class=MsoNormal><i><span lang=EN-US>Max-Planck Institute for Intelligent Systems, Tübingen, Germany</span></i><b><span style='font-size:16.0pt;mso-fareast-language:ZH-CN'><o:p></o:p></span></b></p><p class=MsoNormal><b><span style='font-size:16.0pt;mso-fareast-language:ZH-CN'><o:p> </o:p></span></b></p><p class=MsoNormal><b><span style='font-size:16.0pt;mso-fareast-language:ZH-CN'><o:p> </o:p></span></b></p><p class=MsoNormal align=center style='text-align:center'><b><span lang=EN-US style='font-size:14.0pt;font-family:"Cambria","serif";mso-fareast-language:EN-GB'>Exploiting contact interactions for robust manipulation and locomotion skills<o:p></o:p></span></b></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Cambria","serif";mso-fareast-language:EN-GB'>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.<o:p></o:p></span></p><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>Cordially invited!<o:p></o:p></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p></div></body></html>