[PAST] Differential Flatness and Design of Under-actuated Robots
[PAST] Differential Flatness and Design of Under-actuated Robots [39]
2013 / 04 / 26
Location: 301 - 1512-2
Speaker: Sunil K. Agrawal
Sunil K. Agrawal received a Ph.D. degree in Mechanical Engineering from
Stanford University in 1990. He is currently a Professor of Mechanical Engineering at
Columbia University and is the Director of ROAR and ROSE Laboratory. In the last 15
years, he has directed the research of 20 PhD and 25 MS students. He has published close
to 350 journal and conference papers and 2 books in the areas of controlled mechanical
systems, dynamic optimization, and robotics. Dr. Agrawal's honors include a Presidential
Faculty Fellowship from the White House, a Bessel Prize from Alexander von Humboldt
Foundation, a Fellow of the ASME, and a Humboldt U.S. Senior Scientist Award.
He holds the title of a distinguished Visiting professor of Mechanical Engineering at
Hanyang University in Ansan. He received the Best Paper award at the 35th ASME
Robotics and Mechanisms Conference in 2011 and Best Student Paper Award at the
IEEE International Conference in Robotics and Automation in 2012.


Under-actuation is common in robotics. Planning and control of nonlinear
under-actuated robotics systems is an area of ongoing research. A fully actuated robot
can execute any joint trajectory within its configuration space. Under-actuated robots
are typically restricted in their ability to perform motions. This talk will exploit the
underlying structure of governing dynamics of classes of open-chain and closed-chain
robots. The inertia distribution of the system are altered to establish properties of
"feedback linearizability" and "differential flatness" in order to facilitate integrated
planning and control. The underlying approach will be demonstrated through experiments
with robotic arm, bipedal walker, and more recently trans-femoral prosthesis., 02-880-7149