How to Turn a Robotic Arm into a Hopping Leg
Event details
| Date | 30.11.2016 |
| Hour | 14:15 › 15:15 |
| Speaker | Raffaele Soloperto |
| Location | |
| Category | Conferences - Seminars |
Abstract
The proposed work investigates the possibility to turn a robotic arm into a dynamically hopping single leg.
To achieve that, mechanical updates are needed: the degrees of freedom change from 3 to 9 and the system consequently result to be strongly under-actuated.
Once the robot is mechanically modified, two different control 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, Gazebo, while performing the same tasks.
Results and conclusion are shown in the final sections.
Bio
Raffaele Soloperto is a fresh graduated engineer in Automation Engineering from University of Bologna.
He 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.
From 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 classifying 6D trajectories in order to facilitates human-robot interactions. During this time he also published a paper on ICRA as a first author.
The proposed work investigates the possibility to turn a robotic arm into a dynamically hopping single leg.
To achieve that, mechanical updates are needed: the degrees of freedom change from 3 to 9 and the system consequently result to be strongly under-actuated.
Once the robot is mechanically modified, two different control 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, Gazebo, while performing the same tasks.
Results and conclusion are shown in the final sections.
Bio
Raffaele Soloperto is a fresh graduated engineer in Automation Engineering from University of Bologna.
He 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.
From 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 classifying 6D trajectories in order to facilitates human-robot interactions. During this time he also published a paper on ICRA as a first author.
Practical information
- Informed public
- Free
- This event is internal