Towards Fast Robust Robotics
报告题目： Towards Fast Robust Robotics
报告人：Liu Li
报告时间：2013年5月17日（周五）14：30
报告地点：力学楼434
主持人：王勇 研究员
报告内容：
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.
报告人简介：
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. While working for MDA (Formerly Spar Aerospace Ltd.), he also served as the Adjunct Professor on Controls and Robotics for McMaster University of Ontario, Canada in the Departments of Mechanical, and Electrical and Computer Engineering from 1991 to 1996. Dr. Liu is a Senior Member, IEEE, and authored over 50 technical papers in the fields of space systems, robotics, controls and simulations in IEEE and other professional journals/conferences.