Seminar by Enrico Mingo Hoffman
Title: Modeling and Control of Hybrid Serial–Parallel Floating-Base Systems
Abstract: The talk will present recent advancements in the modeling and control of floating-base systems featuring hybrid serial-parallel kinematic chains. These kinematic solutions are gaining popularity in humanoid robots due to their structural characteristics and advantages in handling impacts. However, they necessitate special considerations in their modeling and control. I will focus on a real-world humanoid robot, the Kangaroo from PAL Robotics, to illustrate these concepts.
Bio: Enrico Mingo Hoffman received his Ph.D at the Istituto Italiano di Tecnologia (IIT) and he is currently an ISFP (Inria Starting Faculty Position) researcher in INRIA Nancy Grand-Est and LORIA, working in the project-team LARSEN. His research is focused on planning and control of generic robotic systems, with particular emphasis on underactuated multi-limbed robots with many degrees of freedom, such as humanoids. He is particularly interested in model-based optmization techniques and robotics-oriented software tools.