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VERSION:2.0
PRODID:-//Memento EPFL//
BEGIN:VEVENT
SUMMARY:Model based control approaches for multi-modal locomotion of a hum
 anoid robot
DTSTART:20141205T140000
DTEND:20141205T150000
DTSTAMP:20260406T161409Z
UID:60342d5d3da29720145106f13de8a958c3c2eeccb5c108261ed49389
CATEGORIES:Conferences - Seminars
DESCRIPTION:Salman Faraji\nPerforming locomotion is a very normal task for
  human in every-day life\, though very difficult for robots. Although ther
 e are many powerful humanoids built and equipped with different kinds of s
 ensors and actuators\, performing complex and agile locomotion like humans
  is far beyond existing algorithms and methods. Such performance requires 
 powerful actuators\, fast perception\, whole body planning and intrinsic c
 ompliance of the hardware and the control method in order to minimize dama
 ge risks and ensure robustness and efficiency. In this presentation\, we b
 riefly review the literature regarding locomotion of humanoid robots and a
 nimated characters. We break down the control loop into several blocks and
  mention the state of the art\, concerning the real hardware available in 
 BioRob laboratory. We focus then on control blocks in different layers and
  propose a hierarchical architecture that decouples instantaneous control 
 and future planning\, using a simplified model called Inverted Pendulum. S
 uch a fast planning method enables the robot to perform walking at reasona
 ble speeds but with certain limitations\, mainly producing less human-like
  motion. This approach intensively uses quadratic programming for state es
 timation\, inverse dynamics and planning which are the main blocks in the 
 proposed control architecture. We describe details of each from theoretica
 l perspective and wrap up the presentation by discussing possible improvem
 ents and extensions for this architecture to include the full body for mor
 e complex locomotion types.\nCV\nSalman Faraji received his bachelor degre
 e in Electrical Engineering from Sharif University in Iran. He further per
 formed a master of Manufacturing systems and Robotics in EPFL university\,
  Switzerland. His master thesis was about performing bipedal walking on a 
 simulated torque-controlled robot\, supervised by Christopher Atkeson in C
 arnegie Mellon university and Auke Jan Ijspeert in EPFL who supervises him
  as a doctoral assistant now in BioRob laboratory. He is contributing to t
 he European Walk-Man project and developing whole-Body agile locomotion al
 gorithms.
LOCATION:ME C2 405 http://plan.epfl.ch/?zoom=20&recenter_y=5864084.17342&r
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STATUS:CONFIRMED
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