Talk
- Speaker
- Frank Park
- Lecture
- Creating Natural Movements
- Institution
- Indian Institute of Science (IISc), Bangalore, India
- Date
- Jan 30, 2008
- City
- Bangalore
- Country
- India
- Audience Type
- Graduate students and faculty
- Audience Size
- 80
- Costs Reimbursed
- 1500
- Comments
- At the invitation of Professor Ashitava Ghosal, Department of Mechanical Engineering, Indian Institute of Science (IISc) in Bangalore, I gave a series of lectures to an audience of approximately 80 graduate students and faculty in the School of Engineering at IISc. The first lecture, given on January 29 from 5-6PM, was titled "Inside secrets to publishing in robotics journals". The contents consisted of basic guidelines on how to prepare and submit technical papers to archival journals such as the IEEE Transactions on Robotics. Half of the one-hour seminar was also devoted to a condensed discussion of the suggestions given in the paper "The Science of Scientific Writing". The entire lecture was videotaped by IISc for later viewing by interested IISc students. The second lecture, given on January 30 from 3:30-5PM, was titled "Creating Natural Robot Movements." (abstract below). Beyond the lectures, the robotics faculty at IISc showed substantial interest in becoming more involved in activities within RAS. ================== SEMINAR ABSTRACT ================== TOPIC: Creating Natural Robot Movements Abstract: There is ample evidence from biology suggesting that natural human and animal movements are optimized with respect to some physical criterion. In this seminar we describe several algorithms for generating natural movements for humanoids and other diverse robotic structures. Various performance criteria, ranging from minimum torque to maximum stability, are considered in generating a range of motions, some involving contact, for structures with closed loops, redundant actuation, and even variable joint stiffnesses. We derive gradient-based optimization algorithms using differential geometric techniques, and also propose principal component-based interpolation methods for generating natural motions in real-time. Demonstrations are shown for a humanoid performing a variety of movements, from reaching, kicking, and lifting, to balancing in a dynamic environment, jumping, running, and emulating various natural human motions.
- Host Name
- Ashitava Ghosal
- Host Affiliation
- IISc, Bangalore, India
