报告人：法国数字科学国家研究院郑刚教授
报告时间：2024年8月5日9:30-10:30
报告地点：金沙9570官方版入口 D530会议室
报告摘要：
Soft robotics has become an emergent research area due to its distinct characteristics compared to conventional rigid counterparts. Being made from flexible and compliant material, soft robots present many advantages including high dexterity, safe interactions, and great adaptability. These inherent properties are useful for the current robotic applications, especially for grabbing fragile objects, environment exploration and so on. However, soft robots are characterized by a large number of degrees of freedom and highly nonlinear deformation, which makes their modeling and accurate control tough. As a result, scientific challenges such as the development of an exhaustive theoretical framework for dynamic modeling and real-time control have arisen.
In this talk, I will first briefly present the derivation of the piece-wise linear strain Cosserat model, which provides the analytical formulas to simulate the dynamics of deformable objects and capture their motions including bending, elongation, shear and torsion. Then PLS Cosserat static model-based control techniques will be explored. After that, I will present a general control framework to achieve the control of the soft manipulator via the PLS Cosserat dynamics, and provided the theoretical convergence proof for the established control architecture, based on which the end-effector strain and position controllers can be then designed.
主讲人简介：
Dr. Gang ZHENG is a researcher at the French National Research Institute for the Digital Sciences (INRIA), leading the Defrost team, which focuses on modeling, simulation, and control of soft robotics. He is an IEEE senior member, a member of the French Committee for modeling, analysis, and decision-making in dynamic systems, and was the vice president of the Control Committee of the French National Academic Council. His main research interests include the estimation and control of complex dynamical systems and their applications in soft and rigid robotics. He has published one book in Springer and more than 200 papers in international leading conferences and journals in robotics and control.
