The Robotics Colloquium features talks by invited and local researchers on all aspects of robotics, including control, perception, machine learning, mechanical design, and interaction. The colloquium is held Fridays between 1:30-2:30pm. Special seminars outside this schedule are indicated below. Refreshments are served.
If you would like to give a talk in upcoming Robotics Colloquia, please contact Maya Cakmak. If you would like to get regular email announcements and reminders about the robotics colloquium speakers, please sign up for the Robotics@UW mailing list.
Spring 2019 Organizers: Tapomayukh Bhattacharjee, Maya Cakmak, Dieter Fox, Siddhartha S. Srinivasa
Abstract: Reach into your pocket, grab one object (phone) between others (keys, wallet), and take it out. Congratulations, you have achieved an impressive feat of motor control, one that we can not replicate in artificial mechanisms. How did you execute this skill? What was key: the mechanical structure of the hand, the rich tactile and proprioceptive data it can collect, analysis and planning in the brain, or perhaps all of these? In this talk, I will present our work advancing each of these areas: analytical models of grasp stability (with realistic contact and non-convex energy dissipation constraints), design and use of sensors (tactile and proprioceptive) for contact information, and hand posture subspaces (for mechanism design optimization and teleoperation). These are stepping stones towards motor skills such as versatile manipulation, which require physical interaction with complex environments and are motivated by applications as diverse as logistics, manufacturing, disaster response and space robots.
Biography: Matei Ciocarlie is an Associate Professor of Mechanical Engineering at Columbia University. His current work focuses on robot motor control, mechanism and sensor design, planning and learning, all aiming to demonstrate complex motor skills such as dexterous manipulation. Matei completed his Ph.D. at Columbia University in New York; before joining the faculty at Columbia, he was a Research Scientist and Group Manager at Willow Garage, Inc., a privately funded Silicon Valley robotics research lab, and then a Senior Research Scientist at Google, Inc. In recognition of his work, Matei has been awarded the Early Career Award by the IEEE Robotics and Automation Society, a Young Investigator Award by the Office of Naval Research, a CAREER Award by the National Science Foundation, and a Sloan Research Fellowship by the Alfred P. Sloan Foundation.
Abstract: Robust information exchange and trusted coordination are both critical needs for multi-robot systems acting in the real world. While these needs are universal across platforms, the computing and sensing resources of these platforms are not – making effective coordination difficult to enable, to scale, and to secure. This talk will present new methods of security and adaptive network formation for resource-constrained, mobile multi-robot systems (applications include delivery drones, mobile IoT, and robotic vehicles). The focus of this work is at the intersection of robotics and communication, and in particular, we study ways that communication technologies can be used to make resource-constrained multi-robot systems more capable. This talk will touch upon our developed technologies in 1) position control algorithms for multiple robots to achieve high data rate networks and 2) development of a virtual sensor for bi-directional Synthetic Aperture Radar between two communicating agents. Building upon these technologies, we develop a theoretical and experimental framework for provably thwarting spoofing attacks using communicated wireless signals in various important multi-agent tasks such as consensus, coverage, and drone delivery. This talk will have a particular focus on our most recent results in securing multi-agent consensus.
Biography: Stephanie is currently an Assistant Professor in the School of Computing, Informatics, and Decision Systems Engineering at Arizona State University (Jan 2018). Prior, she was a research scientist in the Computer Science and Artificial Intelligence Lab (CSAIL) at MIT where she also completed her Ph.D. work (2014) on multi-robot coordination and control and M.S. work (2009) on system identification and model learning. At MIT she collaborated extensively with the wireless communications group NetMIT, the result of which were two U.S. patents recently awarded in adaptive heterogeneous networks for multi-robot systems and accurate indoor positioning using Wi-Fi. She completed her B.S. at Cornell University in 2006.