Author: emingoho

Visiting period at the Dipartimento di Ingegneria Informatica, Automatica e Gestionale at the Sapienza University of Rome

emingoho

From March 10th to March 21st, I had the opportunity to visit the Dipartimento di Ingegneria Informatica, Automatica e Gestionale at the Sapienza University of Rome, kindly invited by Dr. Nicola Scianca.

During my stay, we collaborated on developing model scheduling techniques in model predictive control. As part of my visit, I also had the pleasure of giving a seminar titled “Modeling and Control of Hybrid Serial–Parallel Floating-Base Systems.” In this talk, I introduced key concepts and challenges in this field, while also presenting the ongoing research within the MeRLin project.

Collaboration within the ANR Project MeRLin between the INRIA and IIT

emingoho

Dr. Luca Rossini and Dr. Francesco Ruscelli spent two weeks in our lab in Nancy as invited researchers within the ANR Project MeRLin under the collaboration between the INRIA team LARSEN and the HHCM Lab at the Italian Institute of Technology to develop full-body receding horizon controllers. During this period we had nice discussions and presentations about software for whole-body control, MPC, and Reinforcement learning. During this period we also worked together on integrating the locomotion controller which was developed using the Horizon framework, into the TALOS robot.  The receding horizon controller operates open-loop at 20 Hz, sending joint-level commands to the low-level joint-impedance controller.