Robotics Engineering Colloquium Series
Dr. Vince Aloi
What to do When Your Robot Bends: Using Continuum Robot Models for Controls and Sensing
Monday, May 1st, 2023
2:00 PM - 3:00 PM
Unity Hall Rm 500
Abstract: Continuum robotics introduces interesting challenges to the traditional robotics paradigm. These robots are reminiscent of biological structures like elephant trunks and tentacles. The flexible and slender nature allows these manipulators to explore hard to reach and narrow pathways such as in the human body or a geological feature.
When Continuum robots experience environmental forces, their shapes will deform and flex. For control, this requires a knowledge of both its geometry and external loading. In this talk, we will discuss a simple mechanics model. We will go from a basic understanding of solid materials and see how we can apply this to a controlled system. We will then consider how we can use this model for other purposes, such as force sensing. As we go along, we will be able to see the direct parallels and differences between the methods used for traditional rigid link robots and continuum robots.
Bio: Vincent Aloi is a Ph.D. with a passion for soft robotics. Their doctoral degree was awarded from the University of Tennessee in 2022. Their research interests focused on modeling, sensing, and controlling flexible structures. This research was performed with the REACH lab at UTK and has been published and presented to multiple international robotics conferences and journals. Currently, Vince is working as an engineering instructor, advising and teaching undergraduates in sensing and dynamics.