UTCS FACULTY CANDIDATE: Luis Sentis/Stanford University: "Modeling and Control of Complex Skills in Humanoid Robots and Multi-Robot Systems" ACES 2.302, Tuesday, April 21, 2009 11:00 a.m.

Contact Name: 
Jenna Whitney
Date: 
Apr 21, 2009 11:00am - 12:00pm

There is a signup schedule for this event (UT EID required).

Type of Talk:  UTCS Faculty Candidate

Speaker/Affiliatio

n:  Luis Sentis/Stanford University

Date/Time:  Tuesday,
April 21, 2009  11:00 a.m.

Location:  ACES 2.302

Host:  Risto Miikkulainen

Talk Title:  "Modeling an

d Control of Complex Skills in Humanoid Robots and Multi-Robot Systems&quot

;

Talk Abstract:

With the increasing expectation on autonomy f

or service and assistive robotics, the modeling and design of advanced rob

otic skills involving manipulation, locomotion, and behavior coordination
in human environments are becoming essential to meet the emands. &nb

sp; General purpose helper robots and human assistive technologies depend

on such critical advancements to be able to support and automate our daily

chores.

My work focuses on the study and development of models

and control methods of high-dimensional systems such as humanoid robots and
large scale multi-vehicle systems operating in constrained environments. H

ighly dimensional systems such as humanoids are difficult to model and cont

rol because they involve the coordination of many low-level skills while fu

lfilling geometrical, contact and stability constraints imposed by the env

ironment they operate in.  Likewise, large scale multi-robot systems
such as heterogeneous vehicles operating in large geographical areas are d

ifficult to coordinate because they involve the control of multiple operati

ng criteria while maintaining network, geographical and formation constrai

nts.

In this talk I will describe my approach to these problems
addressing a model-based multi objective hierarchical control architecture
that I have developed and matured over the years to create complex skills

in the Asimo humanoid robot. As part of this framework, I will describe my
work on modeling humanoid multi-contact behaviors to enable the synthesis

of advanced manipulation and locomotion skills as well as the planning of i

nteractive behaviors. If time allows, I will also describe some of the app

lications for multi-robot coordination in outdoor environments.