The Geometry for Robot Modelling and Control
In this talk we present geometric methods for robot modelling and control, we use as a mathematical framework the conformal geometric algebra for applications in robot vision, graphics engineering, learning, control and robotics. We will show that this mathematical system keeps our intuitions and insight of the geometry of the problem at hand and it helps us to reduce considerably the computational burden of the problems. Surprisingly as opposite to the standard projective geometry, in conformal geometric algebra we can deal simultaneously with incidence algebra operations (meet and join) and conformal transformations represented effectively using spinors (quaternions, dual quaternions). We present applications as interpolation, modeling and control problems, we reformulate Euler-Lagrange and Newton-Euler Dynamics and recursive Hamiltonians and design using screw theory controllers for robot manipulators. We illustrate these methods in robot vision for robot manipulators and humanoids. For control of manipulators and artificial hands, we have developed the quaternion spike neural network that is used in a decentralized control fashion.
Date and Time
Location
Hosts
Registration
- Date: 12 Jul 2019
- Time: 09:15 AM UTC to 10:15 AM UTC
-
Add Event to Calendar
- Poznan University of Technology
- ul. Piotrowo 3A
- Poznan, Wielkopolskie
- Poland 60-965
- Starts 12 July 2019 06:00 AM UTC
- Ends 12 July 2019 09:15 AM UTC
- No Admission Charge
Speakers
Bayro Corrochano
The Geometry for Robot Modelling and Control
In this talk we present geometric methods for robot modelling and control, we use as a mathematical framework the conformal geometric algebra for applications in robot vision, graphics engineering, learning, control and robotics. We will show that this mathematical system keeps our intuitions and insight of the geometry of the problem at hand and it helps us to reduce considerably the computational burden of the problems. Surprisingly as opposite to the standard projective geometry, in conformal geometric algebra we can deal simultaneously with incidence algebra operations (meet and join) and conformal transformations represented effectively using spinors (quaternions, dual quaternions). We present applications as interpolation, modeling and control problems, we reformulate Euler-Lagrange and Newton-Euler Dynamics and recursive Hamiltonians and design using screw theory controllers for robot manipulators. We illustrate these methods in robot vision for robot manipulators and humanoids. For control of manipulators and artificial hands, we have developed the quaternion spike neural network that is used in a decentralized control fashion.
Biography:
Eduardo Bayro-Corrochano received the Ph.D. degree in cognitive computer science from the University of Wales, Cardiff, U.K., in 1993.From 1995 to 1999, he was a Researcher and Lecturer with the Institute for Computer Science, Christian Albrechts University Kiel, Germany, where he worked on applications of geometric Clifford algebra for cognitive systems. He is currently a Full Processor with the Department of Electrical Engineering and Computer Science, CINVESTAV Campus Guadalajara, Jalisco, Mexico. He is author of six Springer Verlag books
And published over 220 refereed journal articles, book chapters, and conference papers
Prof. Bayro-Corrochano was an Associate Editor of the IEEE Trans. on Neural Networks and Learn Systems and Journal of Mathematical Imaging and Vision. He is a member of the editorial board of the Journal of Pattern Recognition and Journal of Robotica. He is a Fellow of the International Association of Pattern Recognition Society and IEEE senior member. He was general chair of ICPR’2016, Dec. 4-8, Cancun, Mexico and of IEEE/RAS Humanoids 2016, Nov. 15-17, Cancun México.
Email: