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Seminar - From Multimodal Tactile Signals to Compliant Control Using Robot Skin by Dr Emmanuel Dean
日期:2019 年 04 月 09 日 ( 星期二)
Time:11:00 am - 12:00 pm
Venue:EF311

Abstract:

In this talk, we present an end-to-end approach to transform multi-modal tactile signals into a compliant control to generate different dynamic robot behaviors. This is obtained by fusing multi-modal sensor signals from our robot skin and joint sensors with different control approaches. One advantage of these compliant behaviors is to produce safer robots, especially for physical Human-Robot Interaction. A key component of our framework is a robot parametric modeling based on the information of the robot skin multi-modal sensors (proximity, force and acceleration). The obtained models are used to control a robot improving and even changing its dynamic behavior. We validate our framework in our robot TOMM (a wheeled humanoid robot), where our presented framework enables a stiff robotic system to be compliant and react to multi-modal tactile events (pre-contacts and contacts).

Bio-sketch:

Dr. Emmanuel Dean received the M.Sc.and Ph.D. degrees in Mechatronics from the Center for Research and Advanced Studies, Mexico City, Mexico, in 2003 and 2006, respectively. Since 2013, he has been a Senior Researcher with the Chair for Cognitive Systems, Technical University of Munich, Munich, Germany. His research interests include robotics, low-level control, and physical human–robot-interaction/collaboration.