Complex Robotic Systems: Modeling, Control, and Planning using Dual Quaternion Algebra
Event details
As a result of more than sixty years of research, there are increasingly more robots working in human environments or alongside humans. With an increasing expectation that robots will actively interact with people and other robots in complex tasks in the homes and factories of the future, we still must solve many theoretical and practical challenges to guarantee the reliability and proper functionality of such complex systems. Robot modeling, control, planning, and high-level task description are commonly treated separately in different layers to manage that complexity. Although that strategy may provide useful abstractions and make the complexity more manageable, it invariably employs techniques that demand intermediate mappings between those layers, which results in a theoretical patchwork that usually introduces unnecessary artifacts in the complete robotic system, such as discontinuities and singularities. In this talk, I will present our efforts to unify robot modeling, control, and planning using a single mathematical language and applications to surgical robots, mobile manipulators, and cooperative robotic systems.
About the speaker
Dr Bruno Vilhena Adorno
Bruno Vilhena Adorno received BSc degree (2004) in Mechatronics Engineering and research MSc degree (2008) in Electrical Engineering from the University of Brasília (Brazil), and a Ph.D. degree (2011) from the University of Montpellier (France). He is a Reader in Robotics in the Department of Electrical and Electronic Engineering and a Sellafield / Royal Academy of Engineering Senior Research Fellow. Before joining the University of Manchester, he was an Associate Professor with the Department of Electrical Engineering at the Federal University of Minas Gerais (UFMG), Brazil, where he co-founded and co-led the Mechatronics, Control, and Robotics Research Group (MACRO). His research interests include practical and theoretical aspects of kinematics, dynamics, and control of mobile manipulators, legged robots, and cooperative manipulation systems applied to different domains, ranging from robotic surgery to robotic nuclear decommissioning. He is an Associate Editor of IEEE Robotics and Automation Letters and the Interim Academic Lead of RAICo, a £21m collaboration between the University of Manchester, the UK Atomic Energy Authority, the Nuclear Decommissioning Authority, and Sellafield.
Online Zoom Link:https://york-ac-uk.zoom.