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SEMINAR - Paolo Robuffo Giordano (CNRS): Recent Advances in Shared Control for Tele-manipulation and Tele-navigation

Paolo Robuffo Giordano, CNRS
Data dell'evento: 
Mercoledì, 23 June, 2021 - 12:00

ABSTRACT: Current and future robotics applications are expected to address more and more complex tasks in increasingly unstructured environments and in co-existence or co-operation with humans. Achieving full autonomy is clearly a "holy grail" for the robotics community: however, one could easily argue that real full autonomy is, in practice, out of reach for years to come, and in some cases also not desirable. The leap between the cognitive skills (e.g., perception, decision making, general ”scene understanding”) of us humans w.r.t. those of the most advanced nowadays robots is still huge. In most applications involving tasks in unstructured environments, uncertainty, and interaction with the physical word, human assistance is still necessary, and will probably be for the next decades. These considerations motivate research efforts into the (large) topic of shared control for complex robotics systems: on the one hand, empower robots with a large degree of autonomy for allowing them to effectively operate in non-trivial environments. On the other hand, include human users in the loop for having them in (partial) control of some aspects of the overall robot behavior. In this talk I will then review several recent results on novel shared control architectures meant to blend together diverse fields of robot autonomy (sensing, planning, control, machine learning) for providing a human operator an easy "interface" for commanding the robot at high-level. Applications to the control of single/multiple mobile robots for remote navigation, and of manipulation systems for remote telemanipulation will be illustrated.

BIO: Paolo Robuffo Giordano is a CNRS Research Director at IRISA/INRIA in Rennes, France. He received the MSc degree in Computer Science Engineering and the PhD degree in Systems Engineering from Sapienza Università di Roma, in 2001 and 2008. He was a PostDoc at the Robotics Institute of the German Aerospace Center (DLR) from 2007 to 2008, and then moved to the Max Planck Institute for Biological Cybernetics in Tübingen, Germany, as Project Leader of the group Human-Robot Interaction from 2008 to 2012. He joined CNRS in 2012. His interests are in the general areas of robotics and nonlinear control. In particular, he has been working on kinematic and dynamical modeling of physical systems, motion control of fixed and mobile manipulators, visual servoing, nonlinear state estimation, nonholonomic systems, control design for VR applications, motion simulation technologies, aerial robotics, bilateral teleoperation, and multi-robot systems.
CONTACT: Giuseppe Oriolo
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