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SUMMARY:Complex Robotic Systems: Modeling\, Control\, and Planning using D
 ual Quaternion Algebra - Bruno Vilhena Adorno\, University of Manchester
DTSTART:20241017T130000Z
DTEND:20241017T140000Z
UID:TALK223096@talks.cam.ac.uk
CONTACT:Fulvio Forni
DESCRIPTION:As a result of more than sixty years of research\, there are i
 ncreasingly more robots working in human environments or alongside humans.
  With an increasing expectation that robots will actively interact with pe
 ople and other robots in complex tasks in the homes and factories of the f
 uture\, we still must solve many theoretical and practical challenges to g
 uarantee the reliability and proper functionality of such complex systems.
  Robot modeling\, control\, planning\, and high-level task description are
  commonly treated separately in different layers to manage that complexity
 . Although that strategy may provide useful abstractions and make the comp
 lexity more manageable\, it invariably employs techniques that demand inte
 rmediate mappings between those layers\, which results in a theoretical pa
 tchwork that usually introduces unnecessary artifacts in the complete robo
 tic system\, such as discontinuities and singularities. In this talk\, I w
 ill present our efforts to unify robot modeling\, control\, and planning u
 sing a single mathematical language and applications to surgical robots\, 
 mobile manipulators\, and cooperative robotic systems.\n\nThe seminar will
  be held in the LR3A\, Department of Engineering\, and online (zoom): http
 s://newnham.zoom.us/j/92544958528?pwd=YS9PcGRnbXBOcStBdStNb3E0SHN1UT09
LOCATION:LR3A\, Department of Engineering and online (Zoom)
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