ROAS TECH SEMINAR
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22 December 2023
9:00-10:00 (HKT)
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Venue: W2-201
ZOOM: 870 9950 7623
Passcode: 476242
Impact-Awareness for Task-Space Control
01
ABSTRACT
Almost all the robots fear impacts. Robot controllers typically operate at a near-zero velocity in the vicinity of rigid contacts. Otherwise, the sudden changes in the velocities and torques can severely damage the robot hardware.
We modify the task-space control design to enable hardware-affordable on-purpose impacts. Exploiting the frictional-impact dynamics in three dimensions, the on-purpose impact event becomes deterministic and under-controlled. Preliminary experiments employing the Panda manipulator and the humanoid robot HRP-4 proved that impact-awareness can greatly improve the robot manipulation efficiency without violating all the pre-defined specifications.
02
BIOGRAPHY
Yuquan Wang earned his Bachelor's degree in Mechanical Engineering and Automation from Beijing Jiao Tong University in 2008. He subsequently completed his M.S. in Systems, Control, and Robotics and Ph.D. in Robotics and Computer Vision at the Computer Vision and Active Perception Lab (CVAP) of the Royal Institute of Technology (KTH), Stockholm, Sweden, in 2010 and 2016, respectively.
In 2011, Wang worked as a research assistant at Eindhoven University of Technology. He then served as a Postdoctoral Researcher in the Sustainable Production Systems group at KTH from 2016 to 2018, followed by a Postdoctoral Researcher role in Robotics at CNRS-UM, LIRMM, from 2019 to 2022.
Currently, he is an Assistant Professor in robotics at the Department of Advanced Computing Sciences at Maastricht University, the Netherlands. His research is primarily focused on the development of modular and flexible control systems and planning for robotics.
