Anton Shiriaev, Professor, Engineering Cybernetics, Norwegian University of Science and Technology will give a seminar titled, "Analytic and Computational Tools for Orbital Stabilization of Behaviors of Underactuated Mechanical Systems."

One of great advantages of model-based approaches in robotics is a possibility to separate the task of motion and trajectory planning from the task of a synthesis of feedback controller for stabilizing the preplanned behavior. This is quite different from the way humans learn motions where searches (trials) for new behaviors are embodied and accompanied by feedback actions. The talk will provide a discussion of the second assignment (feedback controller design) for the case when a feedback controller is requested to ensure a Poincare (or the same orbital) stability of a forced periodic solution of a nonlinear dynamical system. Geometric interpretations of the problem settings motivate introducing specific coordinates (transverse to the motion and along the motion) that help in defining math concepts and computational tools necessary for solving the stabilization task for smooth or hybrid nonlinear systems. The development is illustrated by examples of controlling gaits of walking robots and hand manipulations of passive objects with one or several passive degrees of freedom.

Refreshments will be served.