IPAB workshop - 15/12/2016
Speaker: Agamemnon Krasoulis
Talk title: Real-time prosthetic hand control by using a minimal amount of sensors.
Talk Abstract: In this talk, Agamemnon will present recent work on real-time, machine learning-based prosthetic hand control by using a single pair of EMG/IMU sensors, and a novel strategy for classification error rejection. Our proposed methodology would be suited for existing clinical systems used by the trans-radial amputee community.
Speaker: Yiming Yang
Talk Title: Efficient Humanoid Motion Planning with Realtime End-Pose Selection in Complex Environments
Talk abstract: In this talk, Yiming will introduce a novel inverse Dynamic Reachability Map (iDRM) that allows a floating base robot system to find valid and sufficient end-poses in complex and changing environments in real-time. End-pose planning, i.e. finding valid stance locations and collision-free reaching configurations, is an essential problem in humanoid applications, such as providing goal states for walking and motion planners. However, it is non-trivial in complex environments, where standing locations and reaching postures are restricted by obstacles. Our proposed approach, iDRM, customizes the robot-to-workspace occupation list and uses an online update algorithm to enable efficient reconstruction of the reachability map to guarantee that the selected end-poses are always collision-free.
Dec 15 2016
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IPAB workshop - 15/12/2016
Agamemnon Krasoulis/Yiming Yang
4.31/33