Oι ομιλίες δίνονται (πλην εξαιρέσεων) στην Αίθουσα Τηλεσυσκέψεων,
όροφος, Kέντρο Δικτύων, στο Tμήμα Πληροφορικής & Tηλεπικοινωνιών,
και μεταδίδονται σε πραγματικό χρόνο στο διαδίκτυο. Για οδηγίες
σύγχρονης παρακολούθησης και παρακολούθησης των αποθηκευμένων video,
Φυσική πρόσβαση με λεωφορείο
|(σε κίτρινο η αμέσως προσεχής ομιλία)|
Παρ. 28 Νοεμβρίου
of modular robots
Παρ. 24 Οκτωβρίου
** 11.00 **
Diffusion MRI : Models, Algorithms and Applications (abstract)
** Aίθουσα Δ' **
(Institute of Computer Science - FORTH)
|Bio-inspired pedundulatory robotic locomotion (abstract)|
** Aμφιθέατρο **
(Verimag Lab, FRANCE)
Quest for Correctness: Beyond
Verification (abstract) (PDF)
(INRIA, Sophia-Antipolis Mediterranee, France)
Methods for Solving Polynomial Equations
A modular robot consists of several identical individual components (modules) attached together. Groups of modules may co-operate to produce local or global reconfigurations of the robot shape. In this talk, I will discuss algorithmic issues in the reconfiguration of Telecube and Crystalline robots, whose components are shaped as cubes.
The total number of sufficient motions for any reconfiguration depends on the level of "physical realism" that is chosen to be modeled (e.g., bounds on physical strength or maximum velocity). Some of the recent bounds obtained are not yet tight, and thus present themselves as interesting open problems.
Πέμ. 16 Οκτωβρίου, 2μμ **
Aίθουσα Δ' **
Dimitris P. Tsakiris (Institute of Computer Science - FORTH)
Control of movement, and its relationship to sensing and perception, is one of the most significant issues for emerging robotic applications dealing with unstructured and tortuous environments. Such applications occur, among other domains, in industrial site inspection, in search-and-rescue operations, in planetary exploration, and even in the endoluminal access to the human body. Drawing inspiration from biology, where such problems have been effectively addressed by the evolutionary process, can help in overcoming limitations of present-day robotic systems and in designing agile robots, able to adapt robustly to a variety of environmental conditions.
This talk will focus on work inspired by organisms locomoting by body undulations. In particular, a class of marine worms, the polychaete annelids, offers an intriguing biological paradigm of locomotion on sand, mud, sediment, as well as underwater: the variety of their morphology, sensory apparatus and nervous system structure is a direct consequence of their adaptation to so diverse habitats. Such locomotion capabilities could benefit, if properly replicated, robotic systems functioning in unstructured environments.
The described work focuses on the use of detailed computational models for the mechanics, sensing and motion control of this type of bio-inspired robotic locomotion; these models involve the dynamics of the system's motion, its interaction with the environment and neural control by central pattern generators. Dedicated computational tools (the SIMUUN simulation environment) have been developed. These are exploited to study the generation of novel pedundulatory robotic locomotion gaits, which combine body undulations with the action of numerous leg-like appendages. Appropriate use of sensory information leads to reactive behaviors, a first step towards adaptation of these robotic systems to their environment. A number of robotic prototypes have been developed, which demonstrate the generation of pedundulatory gaits and reactive behaviors on a variety of unstructured, granular and deformable locomotion substrates.
Dr. Dimitris P. Tsakiris is a Principal Researcher at the Institute of Computer Science of the Foundation for Research and Technology - Hellas (FORTH) in Heraklion, Greece, and a faculty member of the Graduate Program in the Brain and Mind Sciences of the University of Crete. He holds a B.S. degree from the Department of Electrical Engineering of the National Technical University of Athens, Greece, and M.S. and Ph.D. degrees from the Department of Electrical Engineering of the University of Maryland at College Park, USA. Prior to his current appointment, he was a Marie Curie/TMR postdoctoral fellow with the robotics group Icare of the Institut National de Recherche en Informatique et en Automatique (INRIA) in Sophia-Antipolis, France. His research interests lie in the areas of biologically-inspired robotics, sensor-based navigation and control, undulatory locomotion, nonlinear control and computational vision. He is a principal investigator and co-investigator of several national and European R&D projects, related to his research interests, and is currently leading the ICS-FORTH efforts on pedundulatory and hyper-redundant robotics and on robot-assisted endoscopy.