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DTSTART:20151025T030000
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DTSTART:20150329T020000
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UID:calendar.7131.field_data.0@oba.diag.uniroma1.it
DTSTAMP:20260409T033237Z
CREATED:20151005T092044Z
DESCRIPTION:We propose in this talk to introduce a new paradigm for kinemat
 ic control of highly redundant robots that provides sparse control vector 
 in the joint space (joint velocity). Indeed\, when a robot is highly redun
 dant in comparison to the task to be performed\, current control technique
 s are not “economic” in the sense that they demand\, most of the time unne
 cessarily\, all the joints to move. Such a behaviour can be undesirable fo
 r some applications. In this direction\, this work proposes a new control 
 paradigm based on linear programming (LP) that intrinsically provides a pa
 rsimonious control strategy\, that is\, one in which few joints move. We w
 ill present the method as well as simulation and experimental results on t
 he HOAP-3 humanoid robot. Finally\, a comparison with the Pseudo-Inverse w
 ill be detailed.   Biosketch:Philippe Fraisse is currently professor at th
 e Université de Montpellier (UM-LIRMM)\, France. He received the Master of
  Electrical Engineering of Ecole Normale Supérieure de Cachan in 1988. He 
 received Ph.D. degree in Automatic Control of Université de Montpellier on
  two-arm robotics\, France\, in 1994. His research interests  are humanoid
  robotic\, human motion\, human-robot interaction and assistive robotics. 
DTSTART;TZID=Europe/Paris:20151026T120000
DTEND;TZID=Europe/Paris:20151026T120000
LAST-MODIFIED:20210526T120258Z
LOCATION:Aula A4 DIAG
SUMMARY:Seminar: Philippe Fraisse\, 'Parsimonious kinematic control for hig
 hly redundant robots' - Prof. Philippe Fraisse\, UM-LIRMM\, France
URL;TYPE=URI:http://oba.diag.uniroma1.it/node/7131
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