Robot Motion Planning and Control with Optimization: Its Applications to Humanoid, Mobile Robot, and Rehabilitation RobotMechanical and Aerospace Engineering
10/21 (Monday) Noon – 1:00 pm LC400
Robot Motion Planning and Control with Optimization:
Its Applications to Humanoid, Mobile Robot, and Rehabilitation Robot
Changhwan Kim, Ph.D.
Center for Bionics
Korea Institute of Science and Technology (KIST)
Seoul, South Korea
Optimization schemes or concepts have been widely employed to generate robot motions satisfying given physical constraints. This talk will first cover the optimization problem to perform human motion imitation by a humanoid robot, dealing with on- and off-line retargeting of human motions to the humanoid robot. Model Predictive Control theory will be presented to control multiple mobile robots by avoiding obstacles on the way, which also use the concept of optimization. The concept of retargeting technology of human motions to a humanoid robot is employed to generate the best fitted gait patterns to a lower limb rehabilitation robot. The optimization scheme is used to feature the gait pattern of the human gait motion capture data and the new best fitted gait patterns can be regressed for a certain subject. The talk will not cover the theoretical stuff very much but include more practical applications of known technologies to real robots. In the beginning of talk, very brief introduction of KIST and Center for bionics will be given.
Changhwan Kim, Ph.D., is a Principal Researcher in the Center of Bionics of Korea Institute of Science and Technology (KIST), Seoul, Korea. He received his Ph.D. degree in Mechanical Engineering from the University of Iowa, IA, U.S.A., in 2002. He had worked as a Research Associate at the Dept. of Aerospace and Mechanical Engineering of University of Notre Dame, IN, U.S.A. from 2002 to 2004. Since July of 2004, he had worked at the Intelligent Robotics Center from 2004 to 2007 and at the Center for Cognitive Robotics from 2007 to 2011. Currently he is working at the Center for Bionics in Korea Institute of Science and Technology (KIST), Seoul, Korea. His research interests include human motion imitation and motion generation of a humanoid, human modeling, motion planning of mobile robots, cooperation of multiple robots, and rehabilitation robots. He is now visiting Prof. Sunil Agrawal’s Lab. in the Dept. of Mechanical Engineering of Columbia University for his sabbatical.