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Nicolas Staub
presents
A novel heterogeneous kind of system for aerial-ground cooperative manipulation: MAGMaS
 
On 2018-03-28 15:00 at E112
 
In recent years, the  subject of physical interaction for aerial robots has
been
a popular research area with many new mechanical designs and control approaches
being proposed. The aerial robotics community is currently observing a paradigm
shift from classic guidance, navigation, and control tasks towards more unusual
tasks, for example requesting aerial robots to physically interact with their
environment, thus extending the manipulation task from the ground into the air.
I will present a novel concept for aerial manipulation known has Multiple
Aerial-Ground Manipulator Systems (MAGMaS), including what appears to be the
first experimental demonstrations of a MAGMaS and opening a new route of
research. The motivation behind  associating ground and aerial robots for
cooperative manipulation is to leverage their respective particularities,
ground
robots bring strength while aerial robots widen the workspace of the system. I
will introduce: 
1) the  modeling of MAGMaS, its properties and potential extensions,
2) the planning, estimation and control methods necessary to exploit MAGMaS in
a
cooperative manipulation tasks.
In particular,  an optimal control allocation scheme is employed to exploit the
MAGMaS redundancies. All of the proposed techniques are integrated in a global
architecture used for simulations and experimental validation. This
architecture
is extended by the addition of a tele-presence framework to allow remote
operations of MAGMaS. The global architecture is validated by robust
demonstrations of bar lifting, an application that gives an outlook of the
prospective use of the proposed concept of MAGMaS. Two conclude the talk, I
will
briefly introduce three other topics related to aerial manipulation; 1)
flexibility modeling in MAGMaS, 2) variable stiffness actuator for aerial
manipulation and force estimation scheme for low-cost UAVs.

Biography:
Nicolas Staub received the engineering degree in Control and Industrial
Information Technology from the IMT Atlantique - Mines Nantes (Nantes, France)
in 2014. In 2018, he received the Ph.D. degree in Robotics and Embedded Systems
from the Univ. Paul Sabatier (Toulouse, France). During  his studies he visited
several research institutions; in 2013, the German Aerospace Center (DLR,
Munich, German),  in 2013, the Technical Univ. Munich (TUM, Munich, Germany)
and, in 2016, Seoul National Univ. (SNU, Seoul, South Korea). From 2018, he is
a
Post-Doctoral researcher at the Czech Technical Univ. of Prague (CTU-Prague,
Czech Rep.). His research interest encompass aerial manipulation at large, with
a focus on the control algorithms for physical interaction and cooperation. He
is also interested in design of new robotics systems for aerial manipulation.
Nicolas Staub participated to the AEROARMS European project on aerial
manipulation and was finalist of the KUKA Innovation
Award 2017.
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