Transferring the Principles of Human Impedance Control to Soft Robotic Systems

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• Matthew J Howard, King's College London
• Friday 13 November 2015, 14:00-15:00
• Cambridge University Engineering Department, LR5.

If you have a question about this talk, please contact Tim Hughes.

Inspired by the antagonistic human musculoskeletal system, the current trend in mechatronic design is to include physically compliant elements into the embodiment of robotic devices. The promise of such ‘soft robotic’ systems, includes safety (e.g., giving way to external perturbations without damage to the mechanism) and agility (e.g., energy storage in elastic elements for highly dynamic behaviour). However, these offerings are tempered by the increased complexity of the system dynamics leading to difficulty in control. Learning (by demonstration or reinforcement) is often advocated as a means of dealing with this complexity, and can allow us to exploit the principles of human sensorimotor control to improve our robotic systems. In this talk, I will present work in programming soft robots through imitation of humans, both through forward and inverse optimal control, in order to exploit their dynamic characteristics, and talk about my view of up-and-coming topics in compliant robotics.

This talk is part of the CUED Control Group Seminars series.

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