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DTSTART:20151025T030000
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RDATE:20161030T030000
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BEGIN:DAYLIGHT
DTSTART:20160327T020000
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UID:calendar.7275.field_data.0@www.glad.uniroma1.it
DTSTAMP:20260405T093528Z
CREATED:20160331T090331Z
DESCRIPTION:In this seminar\, I will present a distributed approach for the
  estimation of all the quantities needed for the cooperative manipulation 
 of an unknown load\, i.e.\, kinematic/inertial parameters\, time-varying q
 uantities and and dynamic state of the load. I will then show how this est
 imation technique can be used in a decentralized controller of the object 
 twist. In particular\, I consider the case in which a load has to be manip
 ulated by a pool of ground mobile manipulators. Each robot retrieves a noi
 sy measurement of its velocity and the contact forces applied to the body.
  Kinematics and dynamics arguments are used to distributively estimate the
  relative positions of the contact points and the angular velocity. Subseq
 uently\, distributed estimation filters and nonlinear observers are used t
 o estimate the load rotational inertia\, the relative position between the
  geometric center of the contact points and the load center of mass\, the 
 center of mass velocity\, and the load mass. The manipulation strategy is 
 functional to the estimation process\, and is suitably designed to satisfy
  nonlinear observability conditions that are necessary for the success of 
 the estimation. The seminar will be concluded with the presentation of a f
 ully distributed control strategy that benefits of the estimated quantitie
 s in order to effectively move the load in the space by controlling its tw
 ist. Bio: Antonio Franchi received the Laurea degree (summa cum laude) in 
 Electronic Engineering and the Ph.D. degree in Control and System Theory f
 rom Sapienza University of Rome\, Italy\, in 2005 and 2009\, respectively.
  He was a visiting student with the University of California at Santa Barb
 ara in 2009. From 2010 to 2013\, he was a Senior Research Scientist at the
  Max Planck Institute for Biological Cybernetics in Germany\, and the scie
 ntific leader of the group “Autonomous Robotics and Human Machine Systems”
 . Since 2013\, Antonio Franchi is a Permanent CNRS Researcher (CR1) at LAA
 S-CNRS in Toulouse\, France. His main research interests include autonomou
 s systems and robotics\, with a special regard to control\, planning\, est
 imation\, human-machine systems\, haptics\, and hardware/software architec
 tures. He has published more than 70 papers in international journals and 
 conferences and in 2010 he was awarded with the “IEEE RAS ICYA Best Paper 
 Award'' for a work on Multi-robot Exploration. He is currently Associate E
 ditor of the IEEE Robotics & Automation Magazine. He has served as Associa
 te Editor for the 2014\, 2015\, 2016 IEEE ICRA and 2014\, 2015\, and 2016 
 IEEE IROS and for the  IEEE Aerospace and Electronic Systems Magazine. He 
 co-organized workshops on Haptic Teleoperation\, Multiple-robot Systems\, 
 and  Aerial Robotics at IEEE ICRA 2012\, ICRA 2013\, ICRA 2014\, IROS 2014
  and RSS 2015\, 2016 ICRA  as well as several UAV Shared Control demos at 
 IAS-12 and IEEE SMC 2012 and RSS 2013 and the 2013 ICRA Technical Tour to 
 the Max Planck Institute for Biological Cybernetics. He also has some year
 s of working experience in embedded systems and business consulting compan
 ies.  
DTSTART;TZID=Europe/Paris:20160426T160000
DTEND;TZID=Europe/Paris:20160426T160000
LAST-MODIFIED:20190805T155749Z
LOCATION:Aula Magna
SUMMARY:Antonio Franchi - Decentralized Estimation and Control for Cooperat
 ive Mobile Manipulation - Antonio Franchi\, LAAS-CNRS\, Toulouse\, France
 \n    \n                  \n    Antonio FRANCHI\n\nente provenienza: \n\nL
 AAS-CNRS Toulouse\, France\n\nperiodo visita: \n\nMay\, 2017\n\nCognome vi
 siting: \n\nFRANCHI\n\nNome visiting: \n\nAntonio
URL;TYPE=URI:http://www.glad.uniroma1.it/node/7275
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