IPAB workshop - 15/12/2016 Speaker: Agamemnon Krasoulis Talk title: Real-time prosthetic hand control by using a minimal amount of sensors. Talk Abstract: In this talk, Agamemnon will present recent work on real-time, machine learning-based prosthetic hand control by using a single pair of EMG/IMU sensors, and a novel strategy for classification error rejection. Our proposed methodology would be suited for existing clinical systems used by the trans-radial amputee community. Speaker: Yiming Yang Talk Title: Efficient Humanoid Motion Planning with Realtime End-Pose Selection in Complex Environments Talk abstract: In this talk, Yiming will introduce a novel inverse Dynamic Reachability Map (iDRM) that allows a floating base robot system to find valid and sufficient end-poses in complex and changing environments in real-time. End-pose planning, i.e. finding valid stance locations and collision-free reaching configurations, is an essential problem in humanoid applications, such as providing goal states for walking and motion planners. However, it is non-trivial in complex environments, where standing locations and reaching postures are restricted by obstacles. Our proposed approach, iDRM, customizes the robot-to-workspace occupation list and uses an online update algorithm to enable efficient reconstruction of the reachability map to guarantee that the selected end-poses are always collision-free. Dec 15 2016 12.45 - 13.45 IPAB workshop - 15/12/2016 Agamemnon Krasoulis/Yiming Yang 4.31/33
IPAB workshop - 15/12/2016 Speaker: Agamemnon Krasoulis Talk title: Real-time prosthetic hand control by using a minimal amount of sensors. Talk Abstract: In this talk, Agamemnon will present recent work on real-time, machine learning-based prosthetic hand control by using a single pair of EMG/IMU sensors, and a novel strategy for classification error rejection. Our proposed methodology would be suited for existing clinical systems used by the trans-radial amputee community. Speaker: Yiming Yang Talk Title: Efficient Humanoid Motion Planning with Realtime End-Pose Selection in Complex Environments Talk abstract: In this talk, Yiming will introduce a novel inverse Dynamic Reachability Map (iDRM) that allows a floating base robot system to find valid and sufficient end-poses in complex and changing environments in real-time. End-pose planning, i.e. finding valid stance locations and collision-free reaching configurations, is an essential problem in humanoid applications, such as providing goal states for walking and motion planners. However, it is non-trivial in complex environments, where standing locations and reaching postures are restricted by obstacles. Our proposed approach, iDRM, customizes the robot-to-workspace occupation list and uses an online update algorithm to enable efficient reconstruction of the reachability map to guarantee that the selected end-poses are always collision-free. Dec 15 2016 12.45 - 13.45 IPAB workshop - 15/12/2016 Agamemnon Krasoulis/Yiming Yang 4.31/33
