Friday July 29/1:30
Robots are built to manipulate objects and computers are built to manipulate information. A central problem in robotics is the identification of computational representations and procedures relevant to the programming of work -- forces delivered over motions -- and involves the intersection of mechanics, control, and computer science. The speakers in this minisymposium will discuss various mathematical questions that arise (and some tools to resolve them) in designing computer algorithms capable of driving actuated mechanisms around in the environment without collisions, driving physical fingers around on passive objects without fumbling them, driving kinematically complex mechanisms in a coordinated manner, and driving intermittently actuated objects into desired states.
Organizer: Daniel E. Koditschek
University of Michigan, Ann Arbor
- 1:30: Social Potential Fields: A Distributed Behavioral Control for Autonomous Robots.
John Reif, Duke University and H. Wang, Carnegie Mellon University
- 2:00: Reactive Algorithms for Grasping.
Bubhaneswar Mishra, Courant Institute of Mathematical Sciences, New York University
- 2:30: Geometric Mechanics and Robotic Locomotion.
Richard M. Murray, California Institute of Technology
- 3:00: Dynamical Dexterity via Coupled Oscillators.
Daniel E. Koditschek, Organizer