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[기계] Robotics in Human Environment
<KIMM-SNU 협력 Bio-Robot 연구 기획단 세미나>
1. 제 목 : Robotics in Human Environment
2. 연 사 : 박재흥 교수 / 서울대학교 융합과학기술 대학원, 지능형 융합시스템 학과
3. 일 시 : 2009년 10월 9일(금요일) 오전 11:00-12:00
4. 장 소 : 서울대학교 301동 103호
5. 내 용 :
In the field of robotics, there is a growing need to provide robots with the ability to interact with human and complex unstructured environments. Operations in such environments pose significant challenges in terms of sensing, planning, and control. In particular, it is critical to design control algorithms that account for the dynamics of the robot and environment at multiple contacts. This talk will present the development of a control framework that addresses these issues and its application in biomechanics. The approaches are based on the task space control framework and estimation methods. By accounting for the dynamics of the robot and environment, modular and systematic methods are developed for robots interacting with the environment at multiple locations. These control strategies have been experimentally validated through simulations and implementations on physical robots. This algorithm has also been applied in verifying biomechanical hypothesis, demonstrating its great usefulness in the field of biomechanics. A medical robot, being developed at Hansen Medical, will be explained in detail as an on-going and future application of robotics in the human environment.
6. 약력 :
2009 ~ : Assistant professor, Seoul National University
2008 ~ 2009 : Research associate, Artificial Intelligence lab., Stanford University
2007 ~ 2008 : Senior Researcher, Hansen Medical inc.(medical robotics company)
2006 : Ph.D., Department of Aeronautics and Astronautics, Stanford University
1995, 1999 : B.S. and M.S., Department of Aerospace Engineering, Seoul National University
Main research areas : contact force control, robust haptic teleoperation, multicontact control and whole-body dynamic control.
7. 문 의 : 기계항공공학부 안 성 훈 교수 (☏ 02-880-7110)
1. 제 목 : Robotics in Human Environment
2. 연 사 : 박재흥 교수 / 서울대학교 융합과학기술 대학원, 지능형 융합시스템 학과
3. 일 시 : 2009년 10월 9일(금요일) 오전 11:00-12:00
4. 장 소 : 서울대학교 301동 103호
5. 내 용 :
In the field of robotics, there is a growing need to provide robots with the ability to interact with human and complex unstructured environments. Operations in such environments pose significant challenges in terms of sensing, planning, and control. In particular, it is critical to design control algorithms that account for the dynamics of the robot and environment at multiple contacts. This talk will present the development of a control framework that addresses these issues and its application in biomechanics. The approaches are based on the task space control framework and estimation methods. By accounting for the dynamics of the robot and environment, modular and systematic methods are developed for robots interacting with the environment at multiple locations. These control strategies have been experimentally validated through simulations and implementations on physical robots. This algorithm has also been applied in verifying biomechanical hypothesis, demonstrating its great usefulness in the field of biomechanics. A medical robot, being developed at Hansen Medical, will be explained in detail as an on-going and future application of robotics in the human environment.
6. 약력 :
2009 ~ : Assistant professor, Seoul National University
2008 ~ 2009 : Research associate, Artificial Intelligence lab., Stanford University
2007 ~ 2008 : Senior Researcher, Hansen Medical inc.(medical robotics company)
2006 : Ph.D., Department of Aeronautics and Astronautics, Stanford University
1995, 1999 : B.S. and M.S., Department of Aerospace Engineering, Seoul National University
Main research areas : contact force control, robust haptic teleoperation, multicontact control and whole-body dynamic control.
7. 문 의 : 기계항공공학부 안 성 훈 교수 (☏ 02-880-7110)