When: Thursday 14th of October, 1pm AEST
Where: This seminar will be presented online via Zoom, RSVP here.
Speaker: Damian Abood
Title: An Introduction to Trajectory Optimisation for Underactuated Systems with Bilevel Programming
Planning and control of underactuated systems remains an interesting and ongoing research area within the robotics and control communities. Dogs, birds and humans such as yourself are great examples of underactuated systems which rely on external interactions with the environment (e.g. contact with the ground) to move about. Planning and control of trajectories for these systems is quite complex given the need to select appropriate external interactions while also accounting for the dynamics of the system, which in turn depend on the selected interactions. This presentation aims to introduce the main concepts and current methods used in this field, as well as discuss an approach which views the problem in terms of planning trajectories as paths in space rather than time, ultimately leading to the formation of a bi-level program.
Damian received his Bachelors in Mechatronic Engineering from Sydney University in 2018 and has been a PhD student at the ACFR since 2019 where his research interests include legged locomotion and optimisation.