Feedback transformations of underactuated mechanical systems for trajectory planning: case studies in non-prehensile manipulation

Séminaire le 26 Janvier 2017, 14h30 à CentraleSupelec (Gif-sur-Yvette) Salle du conseil du L2S - B4.40
Anton SHIRIAEV (Department of Engineering Cybernetics, NTNU, Norway)

The talk is aimed at discussion of challenges present in developing model based trajectory planning algorithms for underactuated mechanical systems. Nonlinearity of system’s dynamics and presence of one or several passive degrees of freedom are among several structural properties that are difficult to handle in a trajectory search. Other challenges are related to different formats of representation of feasible trajectories, where some choices can be better suited for further stabilization or advantageous in sensitivity analysis with respect to uncertainty in system parameters. The author is interested to emphasize the attention on two relatively new points in the problem that have recently helped in solving a series of longstanding manipulation problems in robotics: change of coordinates and feedback transformation for mechanical systems are useful to formulate as dependent on an individual trajectory even though such a feasible behavior is not found yet. The arguments are illustrated by new analytical results and the case study in non-prehensile manipulation.