Integrated Multi-objectives, Sensory and Robots Task-space Control Using Quadratic Programming

Professor Abderrahmane Kheddar
Director of Research at French National Centre for Scientific Research (CNRS); Full Member of the National Academy of Technology of France and a Knight of the National Order of Merits of France



Robotic systems have gained noticeable maturity in terms of hardware and embedded software, but also in terms of complexity, versatility and embedded sensors. This talk focuses on an integrated task-space multi-objective and multi-sensory controllers that write as quadratic programs (QP) to handle multi-robot systems as a single centralized control. By doing this, the task specification simplifies substantially. At the heart of the interactions between the systems are the contact forces and visual servoing: we provide methodologies to achieve reliable force and vision tracking with our multi-robot QP controller. A large panel of experiments on real complex robotic platforms and various applications. Recent achievements in achieving industrial demonstrators will be reported.

About the Speaker

Professor Abderrahmane Kheddar received the B.S. degree in Computer Science from the Institut National d’Informatique, Algiers, Algeria, in 1990, and the M.Sc. and Ph.D. degrees in robotics from Sorbonne University, Paris, France in 1993 and 1997, respectively. His research interests include haptics, humanoids, and related bionics. He is a Member of the Steering Committee of the IEEE Brain Initiative, an Editor of the IEEE Robotics and Automation Letters, and a Founding Member and the Deputy Editor-in-Chief for Cyborg and Bionics System. Since 2020 he is the lead of the bionics initiative at CARTIGEN, University Hospital of Montpellier. He is a Fellow of the IEEE, a Fellow of the Asia-Pacific Artificial Intelligence Association and Vice-President of the International Artificial Intelligence Industry Alliance (AIIA). He is a Full Member of the National Academy of Technology of France and a Knight of the National Order of Merits of France.


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