[PAST] Planning and Control of Multi-Contact Interactions with Humanoid Robots: Grasping and Balancing
[PAST] Planning and Control of Multi-Contact Interactions with Humanoid Robots: Grasping and Balancing 
2016 / 10 / 07 PM 01:30 - 2:30
Location: 313 - 224
Speaker: Dr. Maximo Roa
Title: Planning and Control of Multi-Contact Interactions with Humanoid Robots: Grasping and Balancing
Balancing and grasping are two different activities of humanoid robots, which share the same mathematical framework. This can be exploited both in planning and control level. At planning level, different approaches for creating goal poses for both activities will be shown. Passivity-based impedance controllers, based on joint torque sensing, have been traditionally applied to manipulation tasks. Experiments on grasp and reach-to-grasp will be presented in this talk, showing how the controller can cope with positional uncertainties of the object. The same framework is applied to obtain a whole-body posture controller in the robot TORO, a humanoid robot developed at DLR based on the technology of the KUKA-DLR LBR (Lightweight robot arm). This posture controller is extended for a multi-contact scenario, thus obtaining robust balancing behaviors even with uncertainty in the supporting surface.
Dr. Maximo Roa
Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Maximo A. Roa received his PhD degree from the Polytechnical University of Catalonia, Spain, in 2009. Since 2010 he is a Researcher and Team Leader at the DLR – German Aerospace Center, in the Institute of Robotics and Mechatronics. Before joining DLR he worked for Hewlett Packard R&D as a research specialist. He also serves currently as co-chair of the IEEE-RAS Technical Committee on Mobile Manipulation. His main research areas include grasping, manipulation, motion planning and humanoid robots.