Henrique Ferrolho has a B.Sc./M.Sc. in informatics and computing engineering from the University of Porto, and a Ph.D. in robotics and autonomous systems from the University of Edinburgh. Currently, he is a Robotics Engineer at Ocado Technology in the UK, developing robot manipulation solutions for picking and placing tens of thousands of grocery products of varying shapes, sizes, weights, and fragility. His research interests include robust motion planning, and optimal control of complex robotic systems like quadrupeds and humanoids.
Planning trajectories for underactuated systems is a challenging problem in robotics. The dynamics governing such systems are quite complex, and mechanisms themselves have strict physical limits. In this talk, I will explain how we can use Julia (and packages from its robotics ecosystem) to frame motion planning problems as numerical optimisations. I will also share videos of robots solving practical tasks in the real world, tracking trajectories computed with this approach.