Distinguished Lecture Series Archive 2020
Distinguished Lecture Series Archive 2020
Fall Semester
2020-09-18 - Tamim Asfour (KIT)
Engineering Humanoids with Motion Intelligence
Abstract
Humanoid robotics is central both to robotics and intelligence research. This talk presents progress toward 24/7 humanoid systems that tightly couple perception and action for intelligent behavior, including ARMAR demonstrations in kitchen and industrial manipulation tasks learned from observation and experience.2020-10-02 - Robert Katzschmann (ETH Zurich)
Creation and Model-Based Control of Soft Robots Tackling Manipulation and Locomotion Challenges
Abstract
Soft robots offer adaptable and safe locomotion/manipulation but require reproducible integrated actuation+sensing and high-performance control. This talk presents advances in soft actuator morphologies, fabrication, closed-circuit pneumatic/hydraulic powering, and real-time model-based control. Applications include biomimetic fish, soft hands, and multi-segment arms.2020-10-16 - Stephan Weiss (University of Klagenfurt)
State-Estimation and Self-Calibration: From Multiple Sensors to Multiple Agents
Abstract
Self-awareness in adaptive systems extends beyond state estimation to handling appearing/disappearing sensors and integrating them probabilistically. This talk presents tightly coupled estimation and calibration approaches, including visual-inertial odometry with full image+IMU fusion. It also addresses computational complexity, observability-aware recalibration, and extension to multi-agent estimation with synchronization.2020-10-30 - Lorenzo Masia (University of Heidelberg)
Upper Limb Soft Wearable Exosuits: Toward a Symbiotic Assistive Technology
Abstract
Soft exosuits can overcome rigid exoskeleton limitations but introduce assistance and control challenges due to nonlinear dynamics and wearer-biomechanics mismatch. This talk presents progress in harness/actuation design, control strategies for nonlinear behaviors, and real-time myoprocessor interfaces based on musculoskeletal dynamics.Spring Semester (Postponed)
2020-02-21 - Matthias Althoff (Ilmenau University of Technology)
Let’s Make Autonomous Systems Formally Correct
Abstract
Safety-critical autonomous systems face unforeseeable future situations, making exhaustive pre-deployment testing infeasible. This talk proposes online verification: systems continuously verify correctness of next actions just in time for current context. It presents formal verification methods for uncertain continuous systems, conformance checking, and demonstrations on simulations, datasets, and real robots/vehicles.2020-03-06 - Christos Bergeles (King’s College London)
Modelling, Design and Control of Concentric Tube Robots for Surgical Interventions
Abstract
Concentric tube continuum robots can reach deep pathology through confined pathways but face trade-offs in manipulability, force, workspace, intuitiveness, and safety. This talk covers modeling, ML-based kinematics/inverse kinematics, patient-specific design optimization, and control methods that address non-holonomic constraints and avoid instability/local minima.Source: ETH Soft Robotics Lab Distinguished Lecture Series Archive.
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