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Colloquia

Model-Based Robotics: Fast Cars, Robot Origami, and Robust Assembly

Devin Balkcom
Department of Computer Science
Dartmouth College
Hanover, NH

Thursday, November 3, 2005
JEC 3117 - 4:00 p.m. to 5:00 p.m.
Refreshments at 3:30 p.m.

Abstract:

This talk will present the exact optimal trajectories for a class of mobile robot, movies of the first-ever origami-folding robot, instructions on how to fold common paper shopping bags, and, time permitting, algorithms that allow robust assembly even without sensors.

The unifying theme of these projects is a focus on the interface between robots and the physical world. This focus can enable good engineering -- for example, factory assembly tools and techniques that are robust in spite of known model or sensor error. Task models also allow study of fundamental scientific questions. How difficult is a physical task, in terms of required resources such as time, degrees of freedom, energy, and computation? What are the limits of human and robotic locomotion and manipulation skills? When is an imperfect model of a task good enough?

Hosted by: Jeff Trinkle (Jacky Carley x8291)

Last updated: October 20, 2005