Special Robotics Seminar: Dimitris Tsakiris, "Octopus-Inspired Robotic Systems"
Tuesday, May 22, 2012
2168 A.V. Williams Building
Special Robotics Seminar
Octopus-Inspired Robotic Systems
Dimitris P. Tsakiris
Institute of Computer Science--FORTH
P. S. Krishnaprasad
The design of robotic systems geared towards applications which necessitate increased dexterity, as well as propulsion in unstructured environments, may be assisted by biological inspiration, especially as it regards the relationship between robot morphology and behavior. This talk will focus on robotic systems inspired by the morphology, locomotor capabilities and control of movement of the octopus, one of the most agile and intelligent creatures in the sea. The development of computational models for the mechanics and motion control of such systems, involving the elastodynamics of their compliant arms and their hydrodynamic interaction with the aquatic environment, will be outlined. These models are exploited to study the generation of single-arm and multi-arm behaviors, and to assist the design of robotic prototypes.
Dr. Dimitris P. Tsakiris is a researcher at the Institute of Computer Science of the Foundation for Research and Technology - Hellas (FORTH) in Heraklion, Greece, and a faculty member of the graduate program in the Brain and Mind Sciences of the University of Crete. He holds a B.S. degree from the Department of Electrical Engineering of the National Technical University of Athens, Greece, and M.S. and Ph.D. degrees from the Department of Electrical Engineering of the University of Maryland at College Park, USA. Prior to his current appointment, he was a Marie Curie/TMR postdoctoral fellow with the robotics group Icare of the Institut National de Recherche en Informatique et en Automatique (INRIA) in Sophia-Antipolis, France. His research interests lie in the areas of robotics, nonlinear control, geometric mechanics and computational vision, and in biologically-inspired approaches to robotic locomotion, control and sensing, with emphasis on applications in search-and-rescue operations and in surgical robotics. He is a principal investigator and co-investigator of several national and European R&D projects, related to his research interests, and is currently leading the ICS-FORTH efforts on pedundulatory and hyper-redundant robotics and on robot-assisted endoscopy.