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UID:0-381@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20180711T163000

DTEND;TZID=Asia/Jerusalem:20180711T173000

DTSTAMP:20230527T140701Z

URL:https://aerospace.technion.ac.il/events/cooperative-object-manipulatio
 n-a-rigidity-theory-approach/

SUMMARY:Cooperative Object Manipulation:  A Rigidity Theory Approach
DESCRIPTION:Lecturer:Douglas Goldenberg\n Faculty:Department of Aerospace E
 ngineering\n Institute:Technion – Israel Institute of Technology\n Locat
 ion:Classroom 165\, ground floor\, Library\, Aerospace Eng.\n Zoom: \n Abs
 tract: \n Details: \n Moving objects with a single robot is a common pract
 ice\; however\, the weight and dimensions of the cargo oftentimes limit th
 e task. To aid this\, we propose using multiple coordinating robots to mo
 ve large objects. The main challenge in this approach is that the robots d
 o not know the center of mass\, or even the geometry\, of the object they
  are moving\, but do have complete information regarding their own relati
 ve formation. This fact motivates solving the problem using rigidity th
 eory\, a tool recently used in formation control. Within this context\, th
 e planar motion of the object can be decoupled into pure steady state tran
 slations and rotations by utilizing the eigenvectors of the corresponding 
 framework’s rigidity matrix. This formulation is beneficial because it o
 nly requires local information to create any desired trajectory.\nThis wor
 k explores how applying forces computed using the rigidity matrix can be u
 sed to estimate the center of mass of the object\, allowing the robots to 
 adjust the forces and therefore to follow any desired trajectory.\nFinally
 \, we demonstrate the analytical results with numerical simulations.
CATEGORIES:Seminars
LOCATION:Classroom 165\, ground floor\, Library\, Aerospace Eng.

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DTSTART:20180323T030000

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