Planning and controlling robot motion in the presence of tasks and constraints: From mobile manipulators to humanoids
Lunedì, 4 July, 2016 - 11:30
Giuseppe Oriolo, vincitore della procedura valutativa di chiamata per un posto di professore di ruolo di I fascia per il SSD ING-INF/04, terra’ presso questo dipartimento un seminario su attivita’ di ricerca svolte e in corso di svolgimento. Il seminario avra’ luogo lunedi’ 4 luglio 2016 alle 11:30 in aula A4 (DIAG, via Ariosto 25).
This talk will review some recent results concerning the generation of effective motions for advanced robotic systems. In particular, I will first describe a general control-based approach for task-oriented motion planning in the presence of constraints, and then discuss its successful adaptation to a variety of problems involving both fully actuated (fixed and mobile manipulators) and underactuated robots (UAVs, Ballbots). A particularly relevant example in the latter class are humanoid robots, for which the proposed approach generates natural whole-body motions that combine locomotion and manipulation. In the final part of the talk, I will present some additional on-going research on humanoids, including odometric localization, visual navigation, and evasive motion generation.
Giuseppe Oriolo received the Ph.D. in Systems Engineering from Sapienza University of Rome in 1992. From 1994 to 1998 he was Assistant Professor at the Department of Computer, Control and Management Engineering (DIAG) of the same university, where he has been an Associate Professor of Automatic Control since 1998. He is the coordinator of the DIAG Robotics Lab. His research interests are in the area of planning and control of robotic systems, in which he has published two books and over 170 papers in international journals and conferences. He has an h-index of 39 and a total of 6874 citations (source: Google Scholar). Giuseppe Oriolo has been Associate Editor of the IEEE Transactions on Robotics from 2001 to 2005, and Editor of the same journal from 2009 to 2013. He has served on several occasions on the program committee of international symposia, including the IEEE International Conference on Robotics and Automation, the IEEE/RSJ International Conference on Intelligent Robots and Systems, the International Conference on Advanced Robotics, Robotics: Science and Systems, the IFAC World Congress, the European Control Conference, and many others. He has participated to many national and international research projects. Currently, he is PI of DIAG research unit for project COMANOID (Multi-contact Collaborative Humanoids in Aircraft Manufacturing) funded by EU under Horizon 2020.