威尼斯www432888机器人与信息自动化研究所  天津市智能机器人技术重点实验室

Institute of Robotics and Automatic Information System

Tianjin Key Laboratory of Intelligent Robotics

2019年春季先进机器人与人工智能系列学术讲座（第137期）

Seminar Series: Advanced Robotics & Artificial Intelligence

报告题目：Cooperative Robot Control with Uncertainties:

from designing human-robot cooperation to mapping human motion behavior, and manipulating micro/nano objects

报告时间：2019年5月13日(周一)10:00-11:30

报告题目：威尼斯www432888北楼102室

报告嘉宾：Zhidong Wang, Ph. D, Professor( Department of Advanced Robotics,  Chiba Institute of Technology,  Tsudanuma 2-17-1, Narashino, Chiba, JAPAN, E-mail zhidong.wang@it-chiba.ac.jp)

Abstract:

Controlling multiple autonomous robots and human-robot system in coordination are interesting and challenging research topics, especially to the mobile robot system without explicit inter-robot communication. In this talk, two robot systems having physical interactions among humans and robots will be introduced. In these systems, each robot is controlled as if it has a specified impedance dynamics, and a leader-follower type control algorithm is incorporated for estimating the human/leader robot desired motion based on the intentional force/moment applied by the human and the information of an environment. Passive RT Walking Helper and Wearable Walking Helper are mainly designed for elderly and disabled as a dynamical walking assistant without explicit motion identification. These examples will inspire possible applications of the human-robot interaction in near future.

Recently, we also proposed a concept and architecture of Human Motion Map by representing extracted human behavior in the human living space as a map, by using human state estimation function and mapping function of SLAM. The concept is implemented in a mobile robot system as a high dimensional map structure with multi-layer representing some basic motions of human being in particular place in the map, which is generated from individual observations of hundred’s experiments. A motion feature descriptor is developed based on Human Motion Map for representing various walking behaviors in indoor environments. OpenPose based 3D motion method is currently incorporated in the system currently for enhancing the dimension Human Motion Map system. Furthermore, some recent results on caging based cooperative micro-bubble robot control for living cells microassembly, nano scale SLAM based localization, and nano-partical manipulation with nano-hand strategy will be presented.

Short Bio:

ZhiDong Wang received his Bachelor of Engineering from Beihang University, China in 1987, and received his Master degree and Ph.D in Engineering from the Graduate School of Engineering, Tohoku University, Japan in 1992 and 1995 respectively. In 1995, he joined the Advanced Robotics Laboratory at Tohoku University. From 2000 to 2001, he was a visiting scholar of the GRASP Lab., University Pennsylvania, USA. In 2001, he joined the Intelligent Robotics Lab. at Tohoku University as an associate professor in the Department of Bioengineering and Robotics at the Tohoku University. From 2006, he joined the Department of Advanced Robotics, Chiba Institute of Technology, and is currently professor and head of Biomimetic Systems Lab. at CIT, Japan. 

Dr. Wang has published numerous journal and conference articles. He and his colleague received the Best Paper Award of DARS conference in 2002, the Best Paper in Robotics Award of ROBIO conference in 2004, the JSME Award for best paper from the Japan Society of Mechanical Engineers in 2005, and the Robotics and Mechatronics Award from Robotics and Mechatronics Division, Japan Society of Mechanical Engineers in 2005. He served several academic meetings and was General Chair of ROBIO2011, Cyber2014, and NANOMED2016, a Program Chair of ICAM2006、ROBIO2007, ARSO2016, ISR2018 and Cyber2018, and Program Co-Chair of ICRA2011, IROS2013, and an Organizing Committee Chair of ROBIO2008, AIM2012, NANOMED2012, ROBIO2015. Currently, he is serving as the VP of ESPB of IEEE RAS Society, and Associate VP of CAB of the RAS society. His main research interests are human-robot interaction, biomimetic robot, distributed robotics, autonomous mobile robot, nano-manipulation, and application of intelligent robot technologies for the disabled.