Events Optec Agenda Detail
"Optimization in the Modeling and Control of Walking Robots "
Pierre-Brice Wieber (INRIA, Grenoble)
The modeling of walking articulated systems introduces two fundamental questions that deal with the unilateral contact between the feet of the system and the ground. The first question is about the global behavior of the system that results from this unilateral contact, its general stability. The second question focuses more specifically on the changes in the support phases and their general analysis. These two topics raise many serious theoretical mathematical modeling problems, and they deeply impact the control laws that we would like to implement on these systems to make them realize stable and robust walking movements. Far from the very impressive demos of humanoid robots that have been proposed by japanese industrials during the last years, these are in fact serious problems to which no satisfying answers exist today. We will propose in this talk a quick tour of all these questions and some of the possible answers, with a special emphasis on where, why and how the tools from the theory of Optimization are a major help.
| http://www.kuleuven.be/optec/event/497 | |
| Seminar | |
| iCal |
Two OPTEC professors have been awarded three "Gouden Krijtjes", the yearly teaching awards given by the organization of engineering students (vtk). Prof. Lombaert was awarded the prize for the best course in civil engineering, and Prof. Diehl the prizes for the best professor and the best course in mathematical engineering (where he teaches numerical optimization). They received these awards at the yearly "proffentap" where experienced students taught them how to draft beer professionally.
