Estimados,
Están todos cordialmente invitados a la charla que se realizará el próximo martes 19 de Octubre a las 12 hrs.
Título: Model-based Force and Shape Sensing for Soft Robotics
Expositor: Stefan Escaida Navarro, Investigador postdoctoral del equipo Defrost (Deformable Robotics Software) en Inria Lille - Nord Europe
Fecha/hora: martes 19 de octubre 2021, 12:00 GMT-3
Abstract: "Some ten to fifteen years ago, soft robotics emerged as a hot topic in robotics. The idea of building robots out of deformable materials challenges most of the established paradigms in modeling, control, and sensing. However, following this research path promises to unlock new capabilities for robots that could now potentially be deployed in a much larger variety of scenarios. Scenarios, that can be found in the exploration of remote locations (space, underwater, high-risk locations), inside the human body for surgery, in health care, in entertainment, etc. A lot of inspiration comes from nature, where organisms are often made up of soft tissues or a combination of soft tissues with rigid, skeletal structures.
The team DEFROST (Deformable Robot Software) is dedicated to developing numerical methods, based on the FEM, to tackle the challenges of modeling, control, and sensing. A highlight is the use of an inverse problem-solving approach for tasks such as inverse kinematics, inverse dynamics, optimization as well as sensing. In my research, I focus on sensing. The challenges I address are related to sensor design and sensor modeling. That is, finding or developing suitable sensing technologies that can be integrated into soft robots as well as tackling how the respective sensing principles can be fed to the numerical model to estimate a soft robot’s state. In this talk, I want to report on our experience in this domain. That is, from our early steps in implementing a deformable soft pad to our most recent results, where we are starting to show the realization of anatomical soft robots, i.e. phantoms of human organs, such as the prostate or the heart, with sensing and actuation capabilities."
Lugar: Laboratorio de Electrónica y Robótica, Edif. de Ciencia y Tecnología, Piso 6.
Zoom: https://us06web.zoom.us/j/88379470038?pwd=bVRSeXEyb1RTSFZvczNyNmVpWUJvQT09
ID de reunión: 883 7947 0038
Código de acceso: 159127
Atentos saludos,
MIGUEL TORRES
Profesor
Departamento de Ingeniería Eléctrica