IPAB Workshop-07/05/2020
John Pisokas
Title: Spinning and Reeling Flies (Episode II) - How Insects Get Back Home
Speaker: Ioannis Pisokas
Abstract:
Insects are able to navigate in space. A necessary competence for navigation is the ability to keep track of their heading as they move around the environment. A brain circuit providing the necessary computation for this ability has been identified in several insect species. Interestingly, even though the brain anatomy looks distinct when comparing different species, the underlying circuits have a very similar structure. We ask what is the effect of the tiny differences between these circuits on the behavioural capabilities of the animals.
Finally, in order to return to their nest insects need to remember how far they have travelled. Common models of memory make use of line attractors to store the distance travelled. We investigate whether a line attractor network could be the underlying memory mechanism insects use.
Joao Moura
Title:
Equivalence of the Projected Forward Dynamics and the Dynamically Consistent Inverse Solution
Abstract:
In contrast with many robotic applications where the environment poses an obstacle to the robot, in some tasks we require the robot to be in contact with it while executing a desired motion. That interaction imposes a constraint to the robot motion and, therefore, we need to model it when controlling robots.
In this talk, I will analyse two models commonly applied in rigid-body dynamic controllers. By drawing a parallel between contact constraints and motion tasks, I’ll discuss the equivalence of those two modelling approaches.
May 07 2020
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IPAB Workshop-07/05/2020
John Pisokas, Joao Pousa de Moura
Blackboard Collaborate