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上传时间:2021-04-02 浏览次数:10

报告题目:Control-oriented co-design methodology for soft robotics

报告人简介: 郑刚,男,现为法国国家信息自动化研究所研究员、博导,IEEE高级会员,法国动态系统建模、分析与决策委员会会员。曾任法国国家学术委员会控制专委会副主席,法国北方自动化和人机智能系统委员会副主席,以及国际自动控制联合会(IFAC) TC 9.2技术委员会副主席,其主要研究兴趣包括复杂动态系统的观测与控制,及其在机器人中的相关应用。目前在学术期刊上发表学术论文70余篇,包括15Automatica以及4IEEE Transactions on Automatic Control,参与并主持多项法国国家自然科学基金项目。

报告摘要: Soft robotics has become an emergent research area recently due to its unique characteristics compared to conventional rigid robots. Its inherent properties, such as compliance and flexibility, provide some promising characteristics for the current robotic applications. On the contrary, its intrinsic 'soft' characteristic would result in some complex nonlinear behaviors, causing more difficulties in modeling and control of soft robots. In this talk, an innovative simulation/control co-design methodology will be presented when designing soft robotics. The main idea is to use different approach (FEM, Cosserat) to model soft robots, and then analyze the properties (workspace, controllability etc.) to judge whether the designed soft robot satisfies the specification.  In the same framework, different types of controllers might be designed and validated before passing the phase of prototype fabrication.

Meeting Time: 2021/04/06 16:00-17:00 (GMT+08:00) China Standard Time-Beijing

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Meeting ID(腾讯会议室): 998 019 059