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Towards Robots that feel - A predictive control approach for force feedback control
Date: 2017/10/20             Browse: 58

Speaker:   Prof. Rolf Findeisen

Time:         Oct.  20, 10:30 – 11:30

Location:   Room 1A-200, SIST Building

Inviter:     Prof. Boris Houska

Abstract:

Many robotic tasks require the following of a assigned path while applying a certain force. Examples span from milling and drilling processes, to cooperative movement of objects by two robots, up to writing with a pen on a flexible object. We propose an unified approach towards path following and force feedback control. To achieve force feedback, the desired force/admittance dynamics  is considered as an coordinate in the path following problem. The resulting path following problem is solved considering a modified predictive control formulation which allows the inclusion of constraints. The proposed approach will be underlined by simulations and real experiments. We furthermore outline, how learning can be introduced in the presented concept. 

Bio:

Rolf Findeisen obtained a M.S. degree from the University of Wisconsin, Madison, a Diploma in Engineering Cybernetics and Doctorate from the University of Stuttgart. Since 2007 he is heading the Laboratory for Systems Theory and Automatic Control at the Otto-von-Guericke Universit?t Magdeburg. He is an editor and associated editor of several journals including the IEEE Transactions on Control of Network Systems. He has authored more then 260 publications. The research of his group focuses on control for autonomous systems, decision-making under uncertainty, and network controlled systems. The considered fields of applications spanfrom automotive applications and robotics to biological and medical applications.

SIST-Seminar 17052