講座題目：Towards agile robots in unstructured environments: decision, planning, and control

　　報 告 人：Zhao Ye 趙燁 教授

　　時　 間：2018年11月12日(周一)14:00

　　地　 點：中關(guān)村校區(qū)研究生教學樓5樓創(chuàng)新基地（電梯出口北側(cè)）

　　主辦單位：研究生院、自動化學院

　　報名方式：登錄北京理工大學微信企業(yè)號---第二課堂---課程報名中選擇“百家大講堂第128期：Towards agile robots in unstructured environments: decision, planning, and control”

【主講人簡介】

  趙燁是哈佛大學John A. Paulson工程與應用科學學院的博士后研究員,，并將于2019年1月在佐治亞理工學院的George W. Woodruff機械工程學院擔任助理教授,，任佐治亞理工學院機器人和智能機器研究所成員。他于2016年獲得德克薩斯大學奧斯汀分校的機械工程博士學位和UT機器人聯(lián)合學位,。他于2011年獲得哈爾濱工業(yè)大學控制科學與工程學士學位,。他的研究興趣主要集中在高動態(tài)機器人的規(guī)劃、控制和優(yōu)化算法設(shè)計,。

Ye Zhao is a postdoctoral fellow in the School of Engineering and Applied Science at Harvard University. He will start as an Assistant Professor in The George W. Woodruff School of Mechanical Engineering at Georgia Institute of Technology in January 2019. He will be a member of Institute for Robotics and Intelligent Machines at Georgia Tech. Dr. Zhao received his Ph.D. degree in Mechanical Engineering from The University of Texas at Austin in 2016, where he also obtained the UT Robotics Portfolio degree and was a member of the Human Centered Robotics Laboratory. He received his bachelor degree from Control Science and Engineering at Harbin Institute of Technology in 2011. His research interests lie broadly in planning, control, and optimization algorithms of highly dynamic, contact-rich, and human-centered robots. He is especially interested in challenging locomotion and manipulation problems with formal guarantees on robustness, agility, real-time, and autonomy. Ye's co-authored work has been recognized as the 2017 Thomson Reuters Highly Cited Paper and 2016 IEEE-RAS best whole-body control paper award finalist. He serves as an ICT Chair of IROS 2018 and was a Co-Chair of the IEEE-RAS Student Activities Committee in 2016.

【講座摘要】

  本報告將討論實現(xiàn)敏捷和以人為中心的機器人所必需的新計算方法,，特別關(guān)注在粗糙地形上高度敏捷的腿部運動的穩(wěn)健最優(yōu)運動規(guī)劃,。該規(guī)劃方法圍繞魯棒混合自動機，由相空間流形定義的干擾度量,，動態(tài)編程恢復控制器以及在實際系統(tǒng)中執(zhí)行的在線運動規(guī)劃,。將這種運動規(guī)劃方法擴展到廣義多接觸運動行為，描述高層反應任務規(guī)劃器綜合,，用于與受約束環(huán)境相互作用的全身運動,，以及如何整合形式化的任務能力運動方法。報告還將介紹偏置最大似然軌跡優(yōu)化算法的最新進展,，無需考慮接觸模式并能夠處理接觸和模型不確定性,。這次報告將以趙燁教授在佐治亞理工學院實驗室的未來發(fā)展方向結(jié)束。

This talk will discuss new computational approaches necessary to enable agile and human-centered robots with a special focus on robust optimal motion planning of highly agile legged locomotion over rough terrain. This planning approach revolves around robust hybrid automaton, disturbance metric defined by phase-space manifolds, dynamic programming recovery controller, and online foot placement re-planning for execution in real systems. Extending this motion planning approach to generalized multi-contact locomotion behaviors, I will describe high-level reactive task planner synthesis for whole-body locomotion interacting with constrained environments and how to integrate formal methods for mission-capable locomotion. This talk will also present recent progress on biased maximum likelihood trajectory optimization algorithm without enumerating contact modes and capable of handling contact and model uncertainties. Then it will outline my research on distributed whole-body operational space control and impedance control for latency-prone robotic systems. This talk will end with future directions in my lab at Georgia Tech. If you are interested in joining my lab as a graduate student or visiting scholar, please feel free to talk with me after the talk.