Alexander Oliva
Phd Student, INRIA
Email : alexander [dot] oliva [at] inria [dot] fr
Address :
IRISA, Inria Rennes-Bretagne Atlantique
Campus de Beaulieu
35 042 Rennes-cedex, France
Tel: +33 2 99 84 22 65
Assistant: 02 99 84 22 52 (Hélène de La Ruée)
Short Bio
I graduated with an M.Sc. degree in Computer and Automation Engineering from Universita’ degli studi dell’Aquila, Italy, in 2015.
After an experience in industry as Embedded Software Engineer in both telecommunication and Automotive business, I decided to switch to research in the robotics field.
In June 2017 I joined the INRIA Grenoble-Rhone Alpes center as R&D Engineer.
Since October 2018 I am a PhD student at the INRIA Rennes-Bretagne Atlantique under the supervision of Dr. Paolo Robuffo Giordano and Dr. François Chaumette working on the coupling of Vision and Force control for robotic manipulators.
Publications
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GoogleScholar
PhD Thesis defense
I will defend my thesis on Tuesday 22 February 2022 at 10:00 am in the Turing-Petri room (Max 60 people).
It will be live streamed via YouTube at the following link: https://www.youtube.com/watch?v=DDkBZ567_dk
Title: Integration of vision and force control for physical interaction with robotic manipulators
Abstract: Combined vision/force arrangements are becoming more and more common in small and medium sized businesses as “Cobots” becomes more affordable. Cameras can provide a detailed description of the scene, whereas force sensing can provide local but highly precise information about the contact. However, due to the very different nature of these sensing modalities , obtaining an effective combined use is not straightforward. In this thesis we deal with the coupling of vision and force sensing leveraging their complementarity and allowing a robot manipulator to actively achieve compliant motion along the visual task directions. We have developed advanced control schemes with estimators that cope with the update rate discrepancy between the sensors. Furthermore, we contribute to the dynamic model parameter retrieval for manipulators, which are key ingredients both in the proposed controllers, whose take into account the manipulator’s dynamics, as well as for performing more accurate simulations. The reported results, both in the developed simulator and with real experiments show the effectiveness of the proposed techniques.
Composition of the jury:
– Andrea CHERUBINI Professeur, Université de Montpellier, LIRMM, Rapporteur
– Youcef MEZOUAR Professeur, Université Clermont-Auvergne, Sigma, Rapporteur
– Véronique PERDEREAU Professeure, Sorbonne Université, Paris, ISIR, France, Examiner
– Joris DE SCHUTTER Professeur, KU Leuven, Leuven (Arenberg), RAM, Belgique, Examiner
– François CHAUMETTE Directeur de recherche Inria, Inria/IRISA Rennes, France, Thesis supervisor
– Paolo ROBUFFO GIORDANO Directeur de recherche CNRS,IRISA/Inria Rennes, France, Thesis Co-supervisor
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