• [2013-05-15]

  Towards Fast Robust Robotics

Speaker：Liu Li, Ph.D. 

Time：14:30 am

Date：May 17, 2013

Venue：Room 434, Mechanics Building 

Host: Prof. Yong Wang

Abstract:

The limited performances in current robotic applications are largely caused by the low bandwidth of closed loop systems. Examples include jamming situation in space robotic insertion assembly, slow motion and week disturbance rejection capability of the majority of present day Humanoids. Well tuned PID or modern control theory based controllers are unable to resolve this issue.

This seminar presents a distributed recursive adaptive methodology for multi body robotic system based on Newton-Euler formulation from the literature. The approach has truly established non-linear model based control, and the closed loop systems asymptotically converge in the sense of Lyaponov. The applications are discussed based on author’s experiences on space and medical robots. The future engineering implementation issues such as distributed control, fast sampling and parallel computation will also be briefly discussed. It is expected that the outlined control would significantly improve the performance of robotic systems including biped locomotion, towards fast and robust robotics.

Biography:

Dr. Liu Li is the Co-Director, Centre of Excellence for Intelligent Mechanical Systems, Adjunct Professor, at College of Engineering, Peking University. Dr. Liu has been a recognized leader and guru within space robotics community with twenty-five years of experience in the areas of robotic systems & controls. He has been the principle control designer for several space robotic systems at MDA Space Missions, a Canadian company that specializes in robotic and satellite solutions for space missions. He has accumulated extensive experiences in the robotics design for complex operational environment through engagements with the operations of the International Space Station and other robotics programs.  Dr. Liu was the Technical Leader for the state-of-the-art space dexterous robot launched on to the orbit in March 2008. Controls and Robotics a0 technical papers in the fields <span times="" new="" roman';="" mso-bidi-font-size:="" 10.0pt"="" lang="EN-US">of space systems, robotics, controls and simulations in IEEE and other professional journals/conferences.