[IEEE CSS Italy Chapter Seminar Series] A Way to Shape the Force and Impedance Control for Robotics - Prof. Michael RUDERMAN, University of Agder (Norway)
Speaker:
Prof. Michael RUDERMAN, Full Professor, University of Agder (Norway)
Abstract:
A standard motion control based on the feedback of output displacement cannot handle unforeseen contact with the environment without penetrating into soft materials or even damaging fragile materials. Robotics with tactile and haptic capabilities, and in particular medical robotics as a demanding example, place special demands on the advanced motion control systems that should enable safe and harmless contact transitions. When focusing on methodologies and tools for synthesizing the motion and force controllers, it is noteworthy that apart from the established and advanced state-space methods, energy shaping and power port approaches, and Lyapunov-based design, the signal processing view with the corresponding norms and transfer functions is still one of the most common feedback design techniques. Control loop shaping and the sensitivity functions play an important role for robustness and performance when designing feedback controllers for a given input-output system representation. This talk will be dedicated to the control loop shaping with aspects of varying structure due to the interaction of a i.e. manipulator tool with its environment. It will be shown how the basic principles of loop shaping can easily be used to handle sufficiently stiff motion control with reconfiguration into sufficiently smooth impedance control upon the contact. A remarkable feature of such approach is that it can work without measurement of the contact forces, and the control signal and the measured output displacement are the only quantities used for design and operation. Along with the general principles and backgrounds of the stiff motion control and soft force control, some illustrative experiments will be shown where the moving mechanical tool comes into contact with grapes that are soft and simultaneously penetrable.
Speaker short bio:
Dr. Michael Ruderman earned his B.Sc. degree in applied physics from the Polytechnical University of Kharkov, Ukraine, in 1997, Dipl.-Inf. degree in computer and electrical engineering and Dr.-Ing. Degree (with Magna Cum Laude) in electrical engineering from the Technical University (TU) Dortmund, Germany, in 2005 and 2012, respectively. During 2006–2013, he was Research Associate with TU Dortmund. In 2013–2015, he was with Nagoya Institute of Technology, Nagoya, Japan. In 2015 he was specially appointed Associate Professor with Nagaoka University of Technology, Nagaoka, Japan, before joining, in the same year, the University of Agder (UiA), Grimstad, Norway. Since 2020 he is a Full Professor at UiA, teaching control theory in various study programs. During 2025, he is on one-year sabbatical at the Polytechnic University of Bari as a guest research Professor. He chaired the IEEE-IES TC on Motion Control in 2018–2019 and 2020–2021 terms and was IEEE-IES AdCom member until 2023. His current research interests are motion control, robotics and mechatronics, nonlinear systems with memory, nonlinear, hybrid, and robust control.
Date and Time
Location
Hosts
Registration
- Date: 29 May 2025
- Time: 08:00 AM UTC to 09:00 AM UTC
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- Corso Duca degli Abruzzi 24
- Torino, Piemonte
- Italy 10129
- Building: Dipartimento di Scienze Matematiche (DISMA), Cittadella
- Room Number: 1S
Agenda
May 29, 2025
10.00 PM - 11.00 PM
Politecnico di Torino
Room A1S