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Fall 2014 GRASP Seminar - Torsten Kroeger, Google Inc. & Stanford University, "Highly Reactive Robot Motion Generation And Control"
Presenter: Torsten Kroeger (Homepage)
Friday October 17, 2014 from 11:00am to 12:00pm
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.
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.