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DTSTART:20131027T030000
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DTSTART:20140330T020000
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UID:calendar.6765.field_data.0@www.ugovricerca.uniroma1.it
DTSTAMP:20260407T052020Z
CREATED:20131110T191517Z
DESCRIPTION:Speaker: Timothy Bretl\, University of Illinois at Urbana-Champ
 aign Time and location: Monday\, Nov 25\, 2013\, at 15:00\, Aula Magna Abs
 tract:Optimality is a principal that is useful not only for generating rob
 ot motion\, but also for modeling the behavior of systems with which robot
 s interact. I will discuss two examples\, one in robotics and the other in
  neuroscience. First\, by application of geometric optimal control\, I wil
 l show how to establish an appropriate configuration space for robotic man
 ipulation of canonical 'deformable linear objects' like an elastic rod (e.
 g.\, surgical suture wire) or a planar elastic kinematic chain. This resul
 t leads to simple algorithms for manipulation planning that are easy to im
 plement and that work well in practice. Second\, by application of a new f
 ramework for inverse optimal control of differentially flat systems\, I wi
 ll show how to identify and characterize 'invariant outputs' of human loco
 motion given observations of unimpaired human walkers. This result leads t
 o a method of control design for an active prosthetic leg that reduces the
  time required for parameter tuning by a clinician from four hours to four
  minutes. Bio:Timothy Bretl received his B.S. in Engineering and B.A. in M
 athematics from Swarthmore College in 1999\, and his M.S. in 2000 and Ph.D
 . in 2005 both in Aeronautics and Astronautics from Stanford University. S
 ubsequently\, he was a Postdoctoral Fellow in the Department of Computer S
 cience\, also at Stanford University. Since 2006\, he has been with the Un
 iversity of Illinois at Urbana-Champaign\, where he is an Associate Profes
 sor of Aerospace Engineering and a Research Associate Professor in the Coo
 rdinated Science Laboratory. He received the National Science Foundation F
 aculty Early Career Development Award in 2010. Contact: Giuseppe Oriolo
DTSTART;TZID=Europe/Paris:20131125T150000
DTEND;TZID=Europe/Paris:20131125T150000
LAST-MODIFIED:20131125T040829Z
LOCATION:Aula Magna
SUMMARY:Seminar: Timothy Bretl\, 'Principles of Optimality in Robotics and 
 Neuroscience'\, Nov 25 at 15:00 - Timothy Bretl
URL;TYPE=URI:http://www.ugovricerca.uniroma1.it/node/6765
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