During our last seminar at IE Research Datalab, Alexandre Anahory introduced our group to the complexities of control theory and its versatile applications. Professor Anahory introduced control theory as a mathematical framework used to guide systems towards desired outcomes. His explanation made clear how this theory plays a crucial role in tasks like navigating ships efficiently and ensuring robots achieve human-like movements.
The seminar followed with the concept of virtual constraints, a cornerstone of Alexandre’s research. He described virtual constraints as relations on the configuration variables of a control system. They are imposed through feedback control and the action of actuators, instead of through physical connections (such as gears or contact conditions with the environment). Professor Anahory discussed the practical applications of his research, particularly in robotics, where virtual constraints have been applied in developing robots capable of complex movements, such as gymnastics. He also touched on his collaboration with the University of Michigan to advance walking robots, highlighting the interdisciplinary nature of his work.
The seminar not only showcased the potential of control theory, but also underscored the importance of integrating theoretical knowledge with practical applications. Alexandre Anahory’s work sparked conversation between IE Datalab members, discussing all possible approaches to integrate control theory into their research.
Related articles:
“Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage”. Anahory, A. et al. 2023 American Control Conference, IEEE. https://ieeexplore.ieee.org/abstract/document/10156020