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GRASP Special Seminar: Sohee Lee, Technische Universität München, “Dynamics-Based Motion Planning, Control, and Task Programming for Mobile Manipulation”

March 22, 2013 @ 3:00 pm - 4:00 pm

Abstract: The contents are divided into three parts of: (i)
modular and reusable software architectures for motion programming;
(ii) motion control laws that take into account the limited computing
resources; (iii) online rollover prevention in high speed mobile
manipulation based on the Lie group dynamics formulation;

(i) I describe a unified framework for task planning, motion planning,
and control of wheeled mobile manipulators. This relates to the setting
up of a (low-level, control level) motion primitives database which is
user-friendly and reusable and aims to combine with the higher level
components for reasoning and intelligence, etc. As a result, the
integrated, hierarchical programming environment for autonomous robots
is developed.
(ii) In the literature of human motor control, it is well known that
humans select the optimal motion among diverse feasible motions between
initial pose and goal pose. The various optimum criteria (e.g., minimum
energy, minimum jerk, minimum torque change, etc.) are evaluated to
explain the theory of human motor coordination. I suggest the minimum
attention that takes into account the cost of control as a paradigm for
human-like movement generation of a robot.
(iiI) I briefly introduce the Lie group dynamics formulation, and as an
application of this, a real-time dynamic balancing control law for
wheeled mobile manipulators is proposed. For the dynamic stability
criterion of zero moment point, a correct formulation which makes the
definition of a potential function mathematically consistent and
physically plausible is developed. Also, I derive efficient recursive
algorithms for computing exact analytic gradients of the zero moment
point functions. This leads to marked improvements in convergence and
computational performance over existing approaches.


- Learn More

Sohee Lee is a postdoctoral researcher in the
Intelligent Autonomous Systems Group at the Technische Universität
München. She received her Ph. D. degree at the department of mechanical
and aerospace engineering in 2011 from Seoul National University and
worked as a postdoctoral researcher at the Humanoid Robot (HUBO)
Research Center in KAIST. In Lee’s graduate work, she focused on three
subjects: 1) integrated, hierarchical programming environment for
autonomous mobile manipulation; 2) robust rollover prevention for high
speed mobile manipulation; 3) the minimum attention theory as a
paradigm for human-like movement generation of humanoids. Lee worked
for the project to integrate and implement a task planning, motion
planning and control framework to a real robot for 4 years and
participated a ‘Robot Grand Challenge’ contest with other groups. When
she was in the Hubo lab, Lee tested her dynamic balancing algorithm for
high speed mobile manipulator named HuboQ. And then, she moved to TUM
and continued to research on the autonomous mobile manipulation and
humanoid movement generation.


March 22, 2013
3:00 pm - 4:00 pm
Event Category: