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Autonomy Talks - Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems

 
CityZurich, Zurich region, Switzerland
CategoryMicrotechnics
Date Monday, -

Autonomy Talks - Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems

Abstract: In this talk, I present a principled method for designing and fusing desired robotic task behaviors into a stable robot motion policy, explicitly leveraging the geometric structure of non-Euclidean manifolds, which are prevalent in robot configuration and task spaces. Pullback Bundle Dynamical Systems (PBDS) are introduced to drive desired task behaviors and prioritize tasks using separate position-dependent and position/velocity-dependent Riemannian metrics, respectively, thus simplifying both individual task design and modular composition of tasks. The formalism relies upon a simple class of metric-based tasks for enforcing constraints, eliminating local minima by imposing non-conflicting potential functions only for goals. Inspired by Riemannian Motion Policies (RMPs), a geometric optimization problem is provided to combine tasks, which is shown to be stable and globally well-defined, maintaining geometric consistency.

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