Robohub.org
 

Complete force control in constrained under-actuated mechanical systems: Lecture by Francesco Nori

iCub-balancing_Nori

In this video lecture, Franceso Nori from the Italian Institute of Technology (IIT) walks us through the progress that’s been made in humanoid robots in recent years. For example, the humanoids at the DARPA Robotics Challenge disaster scenarios will be required to open several doors to access the disaster scene, but because they are not especially fast and have motor control limitations, they won’t be able do it as efficiently as a real-world situation would require.

To tackle these limitations, Nori focuses on finding ways to advance the dynamic system of a robot – the forces that interact and make the system move. Key to developing dynamic movements in a robot is control, accompanied by the way the robot interacts with the environment. Nori talks us through the latest developments, designs and formulas for floating-base/constrained mechanical systems, whole-body motion control of humanoid systems, whole-body dynamics computation on the iCub humanoid, and finishes with a video on recent implementations of whole-body motion control on the iCub.

Download the full presentation here.


Francesco_NoriFrancesco Nori received his D.Ing. degree (highest honors) from the University of Padova (Italy), in 2002. He obtained his Ph.D. in Control and Dynamical Systems from the the same university in 2005. In 2007, he joined the Istituto Italiano di Tecnologia (Italian Institute of Technology), contributing significantly to the development of the iCub humanoid robot. His research interests are currently focused on whole-body motion control exploiting multiple (possibly compliant) contacts. With Giorgio Metta and Lorenzo Natale, he is one of the key researchers involved in the iCub development, with specific focus on control and whole-body force regulation. Francesco is currently involved in two FP7-EU projects: CoDyCo as coordinator and Koroibot as principal investigator. In the past he was also an investigator in ITALK, VIACTORS and Robotcub.


Nori F. IJARS Video Series: Complete Force Control in Under-actuated but Constrained Mechanical Systems [online video]. International Journal of Advanced Robotic Systems, 2015, 12:V2. DOI: 10.5772/60571


If you liked this lecture, you may also be interested in:

See all the latest robotics news on Robohub, or sign up for our weekly newsletter.



tags: , , , , , , , , ,


International Journal of Advanced Robotic Systems (IJARS) is the first Open Access robotics journal in the Science, Technology and Medicine field.
International Journal of Advanced Robotic Systems (IJARS) is the first Open Access robotics journal in the Science, Technology and Medicine field.





Related posts :



ep.

352

podcast

Robotics Grasping and Manipulation Competition Spotlight, with Yu Sun

Yu Sun, previous chair of the Robotics Grasping and Manipulation Competition, speaks on the value that this competition brought to the robotics community.
21 May 2022, by
ep.

351

podcast

Early Days of ICRA Competitions, with Bill Smart

Bill Smart, one fo the early ICRA Competition Chairs, dives into the high-level decisions involved with creating a meaningful competition.
21 May 2022, by

New imaging method makes tiny robots visible in the body

Microrobots have the potential to revolutionize medicine. Researchers at the Max Planck ETH Centre for Learning Systems have now developed an imaging technique that for the first time recognises cell-​sized microrobots individually and at high resolution in a living organism.
20 May 2022, by

A draft open standard for an Ethical Black Box

Within the RoboTIPS project, we have developed and tested several model of Ethical Black Boxes, including one for an e-puck robot, and another for the MIRO robot.
19 May 2022, by

Unable to attend #ICRA2022 for accessibility issues? Or just curious to see robots?

There are many things that can make it difficult to attend an in person conference in the United States and so the ICRA Organizing Committee, the IEEE Robotics and Automation Society and OhmniLabs would like to help you attend ICRA virtually.
17 May 2022, by
ep.

350

podcast

Duckietown Competition Spotlight, with Dr Liam Paull

Dr. Liam Paull, cofounder of the Duckietown competition talks about the only robotics competition where Rubber Duckies are the passengers on an autonomous driving track.
17 May 2022, by





©2021 - ROBOTS Association


 












©2021 - ROBOTS Association