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CIM's 20th Anniversary Seminar Series

Dynamics and Optimal Control of Motions for Robots and for Human Rehabilitation


Prof. James Bobrow < jebobrow@mit.edu >
Department of Mechanical and Aerospace Engineering University of California, Irvine
Irvine California USA

March 24, 2006 at  11:30 AM
MD 357

Many modern robot systems need motion planners that can deal with their complex geometry and limited actuation capability. One method for computing motions for robot systems is to conduct a numerical search for a trajectory that minimizes a physical criteria like energy, control effort, jerk, or time. In this talk, I provide example solutions of these types of optimal control problems, and develop a framework to solve these problems reliably. Our approach uses an efficient solver for both inverse and forward dynamics along with the sensitivity of these quantities used to compute gradients, and a reliable optimal control solver. We will show some recent work in the application of these ideas to human gait rehabilitation and to arm movement therapy.