PhD defense of Niels Dehio on Prioritized Multi-Objective Robot Control

Congratulations to Niels Dehio, who has sucessfully defended his thesis entitled Prioritized Multi-Objective Robot Control on Thursday. It received high praise from two external reviewers, Dr. Michael Mistry, Edingburgh University, and Prof. Abderrahmane Kheddar, CNRS director, who visited IRP on this occasion and attended the defense in person. In his thesis, Niels Dehio makes significant contributions to the theory and practice of balancing multiple objectives or tasks in the control of redundant and high-DOF robots. He explored and pioneered evolutionary optimization methods to learn soft priorities for multiple tasks. Furthermore, he devised novel methods to shape respective projections for dynamically consistant hard prioritization, as well as for underactuated multi-limb systems.