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SUMMARY:Spring 2024 GRASP on Robotics: Zac Manchester\, Carnegie Mellon University\, "Composable Optimization for Robotic Motion Planning and Control"
DESCRIPTION:This is a hybrid event with in-person attendance in Wu and Chen and virtual attendance on Zoom. \nABSTRACT\nContact interactions are pervasive in real-world robotics tasks like manipulation and walking. However\, the non-smooth dynamics associated with impacts and friction remain challenging to model\, and motion planning and control algorithms that can fluently and efficiently reason about contact remain elusive. In this talk\, I will share recent work from my research group that takes an “optimization-first” approach to these challenges: collision detection\, physics\, motion planning\, state estimation\, and control are all posed as constrained optimization problems.  We then build a set of algorithmic and numerical tools that allow us to flexibly compose these optimization sub-problems to solve complex robotics tasks involving discontinuous\, unplanned\, and uncertain contact mechanics.
URL:https://seasevents.nmsdev7.com/event/spring-2024-grasp-on-robotics-zac-manchester-carnegie-mellon-university-composable-optimization-for-robotic-motion-planning-and-control/
LOCATION:Wu and Chen Auditorium (Room 101)\, Levine Hall\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Seminar
ORGANIZER;CN="General Robotics%2C Automation%2C Sensing and Perception (GRASP) Lab":MAILTO:grasplab@seas.upenn.edu
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