Lecture Title: Computational Challenges and Applications of Continuum Robotics
Presented By: Jessica Burgner-Kahrs, University of Hannover
Abstract: Continuum robots are composed of flexible, elastic, or soft materials such that they can exhibit complex bending motions and achieve dexterous manipulation even in constrained environments. The high miniaturization potential allows for numerous applications, e.g. minimally invasive surgery through natural orifices or inspection of capital goods such as aircraft engines. Computational challenges are associated with the highly nonlinear kinematics, workspace characterization, as well as planning and control.After a general introduction to continuum robotics, the talk focusses on kinematic modeling using methods from differential geometry and elasticity theory and on elevating these concepts to planning problems. In particular, the task specific design of tubular continuum robots using multi-objective optimization algorithms is explained. The talk concludes with future challenges and applications.
Biography: Prof. Jessica Burgner-Kahrs is heading the Laboratory for Continuum Robotics at the Leibniz Universität Hannover since November 2015. Prof. Burgner-Kahrs graduated from Universität Karlsruhe (TH), Germany in computer science and got her Ph.D. at Karlsruhe Institute of Technology (KIT), Germany. Before she started at Leibniz Universität Hannover in 2013, she was Research Associate at Vanderbilt University, USA for two years.Her research focus lies on continuum robotics and in particular on their design, modeling, planning and control as well as human-robot interaction. In 2015 she was awarded with the Heinz Maier-Leibnitz Prize, the Lower Saxony Science Award in the category Young Researcher and entitled Young Researcher of the Year 2015 in Germany. The Berlin-Brandenburg Academy of Sciences awarded her the Engineering Science Prize in 2016. She was elected as one of the Top 40 under 40 in the category Science and Society in 2015, 2016 and 2017 by the business magazine Capital.
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