DCAMM seminar No. 668 will be presented by
Professor Lionel Birglen
Department of Mechanical Engineering,
Ecole Polytechniques of Montreal, Canada
Abstract:
Self-Adaptive mechanical device are a class of linkages for which part of the control task is taken in charge by the linkage itself. The most common example of this class are underactuated robotic hands which possess the unique feature of being capable of adapting their shape to the object seized without any sensors or control scheme. While these linkages have been known for a long time (some even qualify as antiques), they have been largely forgotten and the idea to include them in modern robotic systems has only been recently considered. In this presentation, a state of the art in underactuated grasping will be presented and the recipe to design underactuated robotic hands will be revealed. Once the rules associated to this recipe are known, it will shown how they can be extended to other mechanical systems leading to truly advanced mechatronic devices.
Bio: Lionel Birglen received the B.Eng. degree in Mechatronics from Ecole Nationale Supérieure des Arts et Industries de Strasbourg (France) in 2000. He then pursued a Ph.D. degree in Mechanical Engineering within the Robotics Laboratory at Université Laval (Canada), after an accelerated promotion from the M.Sc. program. In 2005, he was appointed an Assistant Professor by the Department of Mechanical Engineering at the Ecole Polytechnique of Montreal (Canada) where he is now an Associate Professor in Mechatronics. His work focuses on the kinematic analysis and control of self-adaptive mechanisms, especially underactuated robotic hands, and with a particular emphasis on force control. He is a Member of IEEE, ASME, and CCToMM.
Danish pastry, coffee and tea will be served 15 minutes before the seminar starts.
All interested persons are invited