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PRODID:-//Memento EPFL//
BEGIN:VEVENT
SUMMARY:How to Turn a Robotic Arm into a Hopping Leg
DTSTART:20161130T141500
DTEND:20161130T151500
DTSTAMP:20260924T080112Z
UID:ffb933498242b7ba5793e0d5a3dcd318b0fe4726749495989fb81c7f
CATEGORIES:Conferences - Seminars
DESCRIPTION:Raffaele Soloperto\nAbstract\nThe proposed work investigates t
 he possibility to turn a robotic arm into a dynamically hopping single le
 g.\nTo achieve that\, mechanical updates are needed: the degrees of freedo
 m change from 3 to 9 and the system consequently result to be strongly un
 der-actuated. \nOnce the robot is mechanically modified\, two different c
 ontrol laws have been implemented and tested. The first one is an inverse
  dynamics controller\, while the second is a model predictive controller. 
 Both controllers have been compared within a simulation environment\, Gaz
 ebo\, while performing the same tasks.\nResults and conclusion are shown 
 in the final sections.\n\nBio\nRaffaele Soloperto is a fresh graduated eng
 ineer in Automation Engineering from University of Bologna.\nHe completed
  his Master’s Thesis at the ETH Zurich in the Robotic System Lab\, under
  the supervision of Prof. Hutter\, where he investigated the possibility 
 to turn a robotic arm into a dynamically hopping single leg.\nFrom March 
 2014 to October 2014\, he did his Bachelor's Thesis and worked as a Junior
  Researcher at the TUM in Munich\, in the Dynamic Human-Robot Interaction
  for Automation Systems Lab. His work was focused on recognizing and clas
 sifying 6D trajectories in order to facilitates human-robot interactions.
  During this time he also published a paper on ICRA as a first author.
LOCATION:ME C2 405 https://plan.epfl.ch/theme/generalite_thm_v2?lang=fr&ro
 om=ME%20C2%20405&dim_floor=2&dim_lang=fr&baselayer_ref=grp_backgrounds&tre
 e_groups=centres_nevralgiques%2Cacces%2Cmobilite_reduite%2Censeignement
STATUS:CONFIRMED
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