学术报告第201918期

报告题目：From Biologically Inspired Robot to Manufacturing

报 告 人：Pro Howie Choset

报告时间：2019年5月7日14:30

报告地点：南一楼中311室                                                

Biography：Howie Choset is a Professor of Robotics at Carnegie Mellon University where he serves as the co-director of the Biorobotics Lab and as director of the Robotics Major. He received his undergraduate degrees in Computer Science and Business from the University of Pennsylvania in 1990. Choset received his Masters and PhD from Caltech in 1991 and 1996. Choset's research group reduces complicated high-dimensional problems found in robotics to low-dimensional simpler ones for design, analysis, and planning. Motivated by applications in confined spaces, Choset has created a comprehensive program in modular, high DOF, and multi-robot systems, which has led to basic research in mechanism design, path planning, motion planning, and estimation. This work has been supported by both industry and government; DOD support includes two MURIs, one of which Choset was the CO-PI, a young investigator award, and multi-PI awards for modular systems. Choset.s group has produced over 60 journal papers (including 2 in Science and one in Proceedings of the National Academies of Sceince), 180 conference papers and 15 patents. Choset.s work has also been recognized by several best paper awards and nominations at ICRA, IROS and other robotics meetings. Choset's research program has made contributions to challenging and strategically significant problems in diverse areas such as surgery, manufacturing, infrastructure inspection, and search and rescue. In addition to publications, this work has led to Choset, along with his students, to form several companies including Medrobotics, for surgical systems, Hebi Robotics, for modular robots, and Bito Robotics for autonomous guided vehicles. Recently, Choset.s surgical snake robot cleared the FDA and has been in use in the US and Europe since. Choset also leads multi-PI projects centered on manufacturing: (1) automating the programming of robots for auto-body painting; (2) the development of mobile manipulators for agile and flexible fixture-free manufacturing of large structures in aerospace, and (3) the creation of a data-robot ecosystem for rapid manufacturing in the commercial electronics industry. Finally, Choset is a founding Editor of the journal .Science Robotics. and is currently serving on the editorial board of IJRR.

Abstract：机器人是人类发明用以替代人类劳动的智慧机器。机器人学最早的研究都起源于对于生物系统的模仿。然后，仿生机器人并非只是简单的复制生物的形态，而真正实现生物有效作业的是其背后的科学原理，这些原理涵盖范围很广会涉及到从运动学，动力学到控制理论等各类学科。这次报告中，我会分享仿生机器人实验室在过去几十年间仿生学研究方面的突破，并介绍这些理论研究方面的突破如何帮助加速机器人在实际中应用的落地。其中会重点讲到模块化机器人的设计，柔性控制理论，以及集群控制理论如何加速物流机器人应用的落地。这些理论的落地正在逐步将冰冷的机器人，转换为能够与人类紧密协作的生产设备，升级改造制造行业。