- 2nd Edition -
2024 IEEE International Conference on Robotics and Automation in PACIFICO Yokohama
Robotic technology has proven to be an excellent solution for aiding humans in an ever-increasing number of scenarios: from domestic and urban routines to industrial tasks, robots reduce the workload burden on humans and their exposure to hazards. Despite the capabilities demonstrated in recent years, many obstacles remain to be overcome. New challenges arise from the increasing capabilities of advanced robotic platforms. The more complex and unstructured the environment, the more robots should be versatile and reliable to overcome obstacles, plan optimal motions, and reliably accomplish the designed tasks.
2022, the year when I defended my Thesis, βMulti-body modeling of robot dynamics and system identification during MPCβ, in Scientific Computing. The updated translation of the poem can be found here.
Abstract
Due to external influences over parameters that characterize dynamical systems, an online parameter estimation must be added as part of model predictive control strategies. In this thesis, we show how continuous parameters estimation, using inverse dynamics, can be used for identifying the inertial parameters (mass, inertia, and center of mass) of multi-body systems as part of an adaptive control strategy. For this, a Featherstone spatial algebra equivalent model, based on screw theory was used. The system identification was done using a linear least squares approach using the Recursive Newton-Euler Algorithm as a way of implementing a generic solution. The process is for open-loop robots and is tested using an optimal control algorithm based on multiple shooting.
This four-day intensive course aims to provide both theoretical background and hands-on practical knowledge in formulating and numerical methods to solve optimal control problems with nonsmooth differential equation models with switches and state jumps. Nonsmooth dynamical systems arise in robotics, chemical engineering, biology, mechatronics, or aerospace, as soon as some if-else statements, switches, and state jump are encoded in the systemsβ dynamics. For example, contacts and friction in robotic systems lead to jumps and switches.
