by Dr Thiago Boaventura, Sao Paulo University, Brazil
When: Wed, April 17, 16:00-17:00
Where: Computer Science building (entrance from Bancroft road), room 3.02, 3rd floor
Abstract: Very often robots have to physically interact with the environment, people, tools, or other objects. To properly control such interactions, it is important to be able to control both the forces applied by the robot as well as its displacement. In this talk, a few perspectives on how to control such physical interactions will be presented for two different robots: a quadruped and an exoskeleton. Relevant aspects such as the stability and certification of these controllers will also be discussed.
Bio: Thiago Boaventura received the B.Sc. and M.Sc. degrees in mechatronic engineering from the Federal University of Santa Catarina, Florianopolis, Brazil, in 2009. From 2010 to 2013 he worked at the Italian Institute of Technology, Genoa, Italy, on the control of the hydraulic quadruped robot HyQ. In 2013 he got his the Ph.D. degree in robotics, cognition, and interaction technologies from University of Genoa, Italy. Then, he was a postdoctoral researcher for 4 years with Agile and Dexterous Robotics Laboratory, ETH Zurich, Switzerland, involved mainly in the EU FP7 BALANCE project with a focus on the collaborative impedance control of exoskeletons. Since 2017 Thiago is an Assistant Professor at the University of Sao Paulo. His research interests include impedance and admittance control, model-based control, legged robotics, optimal and learning control, and wearable robotics.