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X-WR-CALNAME;VALUE=TEXT:Eventi DIAG
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TZID:Europe/Paris
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DTSTART:20181028T030000
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DTSTART:20180325T020000
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UID:calendar.13491.field_data.0@oba.diag.uniroma1.it
DTSTAMP:20260404T235258Z
CREATED:20180702T110013Z
DESCRIPTION:Underactuation represents dynamic equality constraints that sho
 uld be somehow accommodated in process of searching of feasible motions of
  a mechanical system with passive degrees of freedom and in developing a f
 eedback controller for stabilization. Both tasks of motion planning and mo
 tion control can be quite challenging in applications. However\, there are
  conceptual differences in complexity of solutions for such tasks. In part
 icular\, a controller design assignment is relatively simple and admits an
 alytical procedures for ensuring an orbital stabilization or an orbital co
 ntraction irrespective of a level of underactuation. Similarly\, motion pl
 anning assignment for systems with one passive degree of freedom often can
  be solved analytically. Meanwhile\, the complexity of motion planning for
  mechanical system with several passive degrees of freedom (two and more) 
 is indeed an obstacle for planning agile behaviors in the most of applicat
 ion. The talk is aimed at illustrating the point and at exploring several 
 case studies of systems having two passive degrees of freedom\, for which 
 solutions are available/derived. The second part of the talk is focused on
  analytical arguments for performing non-prehensile manipulations for the 
 Butterfly robot. Modeling\, motion planning and motion control steps are c
 omplemented by the full scale experiment on the educational set-up.
DTSTART;TZID=Europe/Paris:20180709T153000
DTEND;TZID=Europe/Paris:20180709T153000
LAST-MODIFIED:20191008T082902Z
LOCATION:Room B203\, DIAG
SUMMARY:SEMINAR - Anton Shiriaev (NTNU): Trajectory planning for mechanical
  systems with two and more passive degrees of freedom - Anton Shiriaev\, N
 orwegian University of Science and Technology
URL;TYPE=URI:http://oba.diag.uniroma1.it/node/13491
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