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TZID:Europe/Paris
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DTSTART:20191027T030000
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DTSTART:20190331T020000
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UID:calendar.18878.field_data.0@oba.diag.uniroma1.it
DTSTAMP:20260405T022541Z
CREATED:20191013T093531Z
DESCRIPTION:Legged robots are mainly designed to traverse unstructured envi
 ronments where wheeled robots have limited mobility. Their applications ra
 nge from nuclear decommissioning to mining\, search and rescue\, inspectio
 n and surveillance. In addition\, they can be applied to flank human worke
 rs (or collaborate with them) in order to reduce labor accidents\, as well
  as in elderly care. The next generation of legged robots are envisioned t
 o operate either autonomously or semi-autonomously (through tele-operation
 ) over uneven terrains. This requires the rejection and compensation of di
 sturbances\, the exploitation of visual feedback\, and the ability to mani
 pulate both fragile and heavy objects. The main ingredients for legged loc
 omotion are planning\, control\, perception and state estimation. Numerica
 l optimization is a promising tool for motion planning and control for leg
 ged robotic systems in complex geometry environments (e.g. multi-contact s
 cenarios) because it enables to push the machine up to the performance lim
 its.Indeed\, when the complexity of the terrain increases\, or when the ex
 ecution of the requested task involves highly dynamic motions\, numerical 
 optimization and machine learning strategies are needed to automatically f
 ind feasible trajectories and control actions that could not otherwise be 
 determined. In this seminar I will mainly focus on the planning aspects an
 d on different strategies to achieve effective locomotion across complex t
 errain. 
DTSTART;TZID=Europe/Paris:20191021T160000
DTEND;TZID=Europe/Paris:20191021T160000
LAST-MODIFIED:20221216T112253Z
LOCATION:Aula 5 - Via Ariosto
SUMMARY:Locomotion strategies for quadruped robots - Dr. Michele Focchi - I
 stituto Italiano di Tecnologia (IIT)
URL;TYPE=URI:http://oba.diag.uniroma1.it/node/18878
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