Kinematically-redundant robots: Design and Control
Abstract
Kinematic redundancy plays an important role in enhancing the adaptability, functionality, and safety of robotic systems. It enables trajectory optimization, obstacle avoidance, improved manipulation, and allows robots to choose among multiple configurations to accomplish the same task. The lecture focuses on various forms of redundancy across robotic platforms. Solutions will be presented based on conventional manipulators with an increased number of degrees of freedom, mobile manipulation systems combining a robotic arm with a mobile base, as well as snake-like robots designed for locomotion in narrow or dynamic environments.
Emphasis is also placed on continuum and soft robots that employ smooth, flexible structures actuated by pneumatic or tendon-driven systems. The development of custom actuators produced via 3D printing, their characterization, and integration into modular redundant systems will be presented. These robots enable real-time shape modulation, movement direction, and stiffness control, making them well-suited for tasks requiring safe physical interaction with the environment or with humans.
The lecture offers a systematic overview of the design, motion planning, and control of kinematically-redundant robots, including practical implementations and experimental results, with a focus on current research challenges in this area.
Short Bio
Ivan Virgala has received MSc and PhD degrees in mechatronics from Faculty of Mechanical Engineering, Technical University Kosice, in 2009 and 2012. Currently he works as full professor and leader of ARM-lab at Institute of Automation, Mechatronics, Robotics and Production Systems, TUKE. He acted as a visiting researcher at Bristol Robotic Laboratory (University of the West of England, Bristol, United Kingdom) and Interactive Robotics Lab CEA (Paris, France). His research is focused on mathematical modeling and control of kinematically redundant robots, continuum robots, soft robots, and applications of AI/ML in robotics.