1. 제 목 : Motion Planning for Underactuated Mechanical Systems

2. 연 사 : Kevin Lynch
Department of Mechanical Engineering
Northwestern University

3. 일 시 : 2005년 6월 15일 수요일 16:00~17:00

4. 장 소 : 서울대학교 313동(정밀연) 115호 세미나실

5. 내 용
We are studying motion planning and control for "underactuated" robot systems --- robots with fewer actuators than degrees-of-freedom to be controlled. Examples include ground, space, and underwater vehicles, as well as robot arms with passive joints. Similarly, robot manipulators with just one or two actuators can control the motions of parts with more degrees-of-freedom, performing purposeful manipulation by pushing, rolling, shaking, juggling, and throwing and catching. The idea is to build inexpensive, mechanically simple robots, transferring the complexity from design to control.
This talk will focus on trajectory planning for a class of underactuated mechanical systems called "kinematically controllable" systems. I will describe this notion of controllability for mechanical control systems, demonstrate how this property simplifies the motion planning problem, and present implementations of the theory on an underactuated robot arm and an underactuated ground vehicle.

6. 문 의 : 기계항공공학부 박 종 우 교수 (☎ 880-7133)