講演会開催報告: Motion Planning and Control for Robot and Human Manipulation
Motion Planning and Control for Robot and Human Manipulation
Kevin Lynch, Professor
Chair of the Mechanical Engineering Department at Northwestern University, USA
In this talk I will describe our progress on motion planning and control for two very different manipulation problems: (1) dexterous manipulation by robots and (2) control of arm neuroprosthetics for humans with spinal cord injuries.
The first part of the talk will focus on manipulation modes commonly used by humans but mostly avoided by robots, such as rolling, sliding, pushing, pivoting, tapping, and in-hand manipulation. These manipulation modes exploit controlled motion of the object relative to the manipulator to increase dexterity.
In the second part of the talk I will describe control of a functional electrical stimulation neuroprosthetic for the human arm. The goal of the project is to allow people with high spinal cord injury to recover the use of their arms for activities of daily living. Beginning with traditional methods for system identification and control of robot arms, I will describe how we have adapted the approach to identification and control of an electrically stimulated human arm.
6月28日（金） 9：15 – 10：15