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Fall 2014 GRASP Seminar – Torsten Kroeger, Google Inc. & Stanford University, “Highly Reactive Robot Motion Generation and Control”

October 17, 2014 @ 11:00 am - 12:00 pm

Abstract: Online and instantaneous robot motion generation is an important feature for
robot motion control systems to let robots respond instantaneously to
unforeseen events. An algorithmic concept that enables instantaneous changes
from sensor-guided robot motion control (e.g., force/torque or visual servo
control) to trajectory-following motion control, and vice versa, will be
presented. The resulting class of on-line trajectory generation algorithms
serves as an intermediate layer between low-level motion control and
high-level sensor-based motion planning. Online motion generation from
arbitrary states is an essential feature for autonomous hybrid switched
motion control systems. It enables robotic systems to perform coordinated
and deterministic reflex motions. Samples and use-cases – including
manipulation and human-robot interaction tasks – will accompany the talk in
order to provide a comprehensible insight into this interesting and relevant
field of robotics.


- Learn More

Dr. Torsten Kroeger is a roboticist at Google and a visiting scholar at
Stanford University. He received his Ph.D. in computer science from TU
Braunschweig in Germany in 2009 (summa cum laude). In 2010, he joined the
Stanford AI Lab as a lecturer and research associate. His research interests
are focused on real-time trajectory generation and control of robotic
systems. Application domains of his research include industrial robotics and
automation, machine tools, haptic devices, surgical robotics, service
robotics, mobile robotics, and space telescope control. He has been working
as a research consultant for Volkswagen AG, KUKA Roboter GmbH, Manz
Automation AG, Auris Surgical Robotics, Inc., and Redwood Robotics, Inc.. He
is the founder of Reflexxes GmbH, a startup working on research and
development of real-time motion generation software. In 2014, Reflexxes was
acquired by Google, where Torsten now leads parts of R&D efforts in the
domain of robotics. Torsten is an editor or an associate editor of multiple
IEEE conference proceedings, books, and book series. He received the 2014
IEEE RAS Early Career Award, the 2011 Heinrich Buessing Award, the 2011 GFFT
Award, two fellowships of the German Research Association, and he was a
finalist of the 2012 IEEE/IFR IERA Award and the 2012 euRobotics
TechTransfer Award.


October 17, 2014
11:00 am - 12:00 pm
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