{"693961":{"#nid":"693961","#data":{"type":"event","title":"PhD Defense by Lorenzo Ticozzi","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle:\u003C\/strong\u003E\u0026nbsp;Geometric Modeling, Control, and Estimation of Hybrid Rigid-Continuum Space Manipulators\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EDate:\u0026nbsp;\u003C\/strong\u003EThursday November 19, 2026\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ETime:\u0026nbsp;\u003C\/strong\u003E1:00 pm \u2013 3:00 pm EST\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ELocation:\u0026nbsp;\u003C\/strong\u003ERemote\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EMeeting Link:\u003C\/strong\u003E\u0026nbsp;\u003Ca href=\u0022https:\/\/teams.microsoft.com\/meet\/2327470462272752?p=e6lw2qUsvCu9SJS4C8\u0022\u003Ehttps:\/\/teams.microsoft.com\/meet\/2327470462272752?p=e6lw2qUsvCu9SJS4C8\u003C\/a\u003E\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ELorenzo Ticozzi\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003ERobotics PhD candidate\u003C\/p\u003E\u003Cp\u003EDaniel Guggenheim School of Aerospace Engineering\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EDr. Panagiotis Tsiotras (Advisor) -\u0026nbsp;School of Aerospace Engineering\u003C\/p\u003E\u003Cp\u003EDr. Patricio Vela - School of Electrical and Computer Engineering\u003C\/p\u003E\u003Cp\u003EDr. Yue Chen - School of Biomedical Engineering\u003C\/p\u003E\u003Cp\u003EDr. Frank Dellaert - School of Interactive Computing\u003C\/p\u003E\u003Cp\u003EDr. Yashwanth Nakka - School of Aerospace Engineering\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EAbstract:\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EThe current shift towards In-Space Servicing, Assembly, and Manufacturing (ISAM) calls for robotic systems that balance maneuvering precision with operational safety, capable of executing high-accuracy tasks while remaining safe in the presence of limited, uncertain information. Conventional rigid manipulators often require complex strategies to interact with fragile, uncooperative targets, while purely continuum robots are limited in payload capacity and maneuvering accuracy.\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EThis thesis investigates a Hybrid Rigid-Continuum Space Manipulator System that integrates a tendon-driven continuum appendage with a rigid robotic arm to bridge this gap. First, a minimal-order, closed-form dynamic model is derived using the Geometric Variable Strain (GVS) approach, resulting in a computationally efficient formulation of coupled floating-base spacecraft\u2013manipulator dynamics that explicitly accounts for momentum conservation. Then, the proposed model is employed to design nonlinear state feedback controllers achieving stabilization and task-space trajectory-tracking. Next, this thesis develops a novel continuum-robot state estimation approach encoding the closed-form GVS kinematics within a factor graph framework, with improved accuracy and robustness over existing alternatives demonstrated both in simulations and experiments. Finally, we build upon the previous modeling and estimation contributions to present a kinematic framework for the complete state estimation of the space manipulator.\u003C\/p\u003E","summary":"","format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003EGeometric Modeling, Control, and Estimation of Hybrid Rigid-Continuum Space Manipulators\u003C\/p\u003E","format":"limited_html"}],"field_summary_sentence":[{"value":"Geometric Modeling, Control, and Estimation of Hybrid Rigid-Continuum Space Manipulators"}],"uid":"27707","created_gmt":"2026-11-10 16:48:59","changed_gmt":"2026-11-10 16:49:42","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2026-11-19T13:00:00-05:00","event_time_end":"2026-11-19T15:00:00-05:00","event_time_end_last":"2026-11-19T15:00:00-05:00","gmt_time_start":"2026-11-19 18:00:00","gmt_time_end":"2026-11-19 20:00:00","gmt_time_end_last":"2026-11-19 20:00:00","rrule":null,"timezone":"America\/New_York"},"location":"Remote","extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"100811","name":"Phd Defense"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}