Since the successful Apollo program, humanity is once again aiming to return to the Moon for scientific discovery, resource mining, and inhabitation. Upcoming decades focus on building a lunar outpost, with robotic systems playing a crucial role to safely and efficiently establish essential...
Robot Control
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Abstract: Port-Hamiltonian (pH) systems have gained extreme popularity in the last 3 decades in different fields. As examples, mathematicians use...
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Seminar by Pieter van Goor (University of Twente)
Title: Synchronous State Estimation for Inertial Navigation Systems
Abstract:
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an... -
Dr. Paolo Robuffo Giordano
Centre National de la Recherche Scientifique (CNRS)
Rainbow Team, Irisa and Inria Bretagne Atlantique
Rennes, FranceTitle:
Intrinsic Robust Planning for Uncertain... -
Marilena Vendittelli è risultata vincitrice della procedura valutativa di chiamata, indetta ai sensi dell’art. 24, commi 5 e 6, della Legge n. 240/2010, per n. 1 posto di professore di ruolo di prima fascia per il GSD 09/IINF-04 (ex SC 09/G1) – Settore scientifico-disciplinare IINF-04/A (ex SSD...
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We address the time-optimal, rest-to-rest motion problem under bounded control for a two-mass system interconnected by a visco-elastic joint. A complete geometric solution has recently been found in [1] for the purely elastic case, exploiting symmetries that are lost with the introduction of...
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Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this article aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration...
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AbstractIn this seminar an overview will be given of the ERC AdG PortWings project and its achievements. The overview will first describe the initial goal and the context in which the project came to existence, and then will give attention to the various aspects of...
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Model-based strategies are a promising solution to the grand challenge of equipping continuum soft robots with motor intelligence. However, finite-dimensional models of these systems are inherently inaccurate, thus posing pressing robustness concerns. Moreover, the actuation space of soft robots is...
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A linear-quadratic optimal control problem is considered for the infinite-dimensional model of a one-link flexible arm. Two boundary inputs are assumed to be available, namely the joint torque at the link base and a transverse force at the tip of the link. The problem is formulated and solved using...