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[세미나] Stability of Robotic Obstacle Avoidance and Force Interaction

2011-01-04l 조회수 9829




일자: 2011.1.11(화) 10:30~12:00
장소: 301동 920호
연사: Prof. Rolf Johansson, Lund University, Dept Automatic Control

Abstract:
Stability problems associated with robot control with obstacle avoidance are analysed. Obstacle avoidance algorithms based on potential function are revised to accomplish stable re-design. A stability proof using Lyapunov theory and passivity theory is provided for the re-designed obstacle
avoidance algorithm. The paper presents a modification of potential functions for obstacle avoidance aiming towards stable obstacle avoidance and force interaction. The input is modified to permit block decomposition into a strict positive real (SPR) block and a passive high-gain block. This modification suggested involves a velocity-dependent potential-like repulsive force action from the obstacle. Stability proofs using Lyapunov theory and passivity theory as well as simulations demonstrate asymptotic stability, eliminating oscillatory or divergent behaviors.

Bio:
Rolf Johansson received the Master-of-Science degree in Technical Physics in 1977, the Bachelor-of-Medicine degree in 1980, the doctorate in control theory 1983, was appointed Docent in 1985, and received the Doctor-of-Medicine degree (M.D.) in 1986, all from Lund University, Lund, Scandinavia. He is member IEEE; fellow of the Swedish Society of Medicine; and fellow of the Royal Physiographic Society, Section of Medicine.
Since 1986 he has been with  the Dept. Automatic Control, Lund University, where he is currently Professor of control science. In his scientific work, he has been involved in research in adaptive system theory, mathematical modeling, system identification, robotics and signal processing. Since 1987, he has also participated in research and as a graduate advisor at the Faculty of Medicine, Lund University Hospital.  He has had the following visiting appointments: Researcher, 1985,  Centre National de la Recherche Scientifique (CNRS), Grenoble, France;  Visiting scientist CalTech, CA, June 1997, June 2001; Rice Univ., Houston, TX, May 1998, May 2001; Supélec, Paris, France, June 1998; Univ. Illinois at Urbana-Champaign, IL; UC Santa Barbara, CA,  Aug. 1999; Univ. Napoli Fed II, Italy, July 2000; Guest Professor, NTNU, Trondheim, NO, Aug. 2001; Guest Professor at CIDAC, Univ. Newcastle, Australia, July 2003. Tsinghua Univ., Beijing, China, Nov. 2003, Aug. 2004; Hon.Visiting Professor, North China Univ. Science and Technology (NCUST), Taiyuan, Shanxi, China, 2003; Hon. Visiting Professor, Wuhan Univ. Science and Technology (WUST), Wuhan, Hubei, China, 2004; Russell S. Springer Visiting Professor 2004, UC Berkeley, Berkeley, CA; Universidad de Valladolid, Valladolid,  Spain, June 2004; Universidad de Jaén, Jaén, Spain, July 2005.
Rolf Johansson was awarded the 1995 biomedical engineering prize (the Ebeling Prize)  of the Swedish Society of Medicine for distinguished contribution to the study of human balance through application and development of system analysis and robotics.  In 1993-2002, he was coordinating director in  robotics research  with participants from several departments of Lund University. He is Assoc. Editor of Int. J. Adaptive Control &Signal Processing since 1999. In 1993 he published the book System Modeling and Identification,  Prentice Hall, Englewood Cliffs, NJ (Information and System Sciences Series  Ed. T. Kailath).

초청자: 이장규, 심형보 교수님

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