Fall Control of Humanoid Robots
Thursday, July 25, 2013 from 6:00 PM to 7:30 PM (PDT)
Menlo Park, CA
Come join ASME Silicon Valley Section Technical Dinner Talk
"Fall Control of Humanoid Robots"
Invited Speaker: Ambarish Goswami, PhD, ASME Fellow
Principal Scientist, Honda Research Institute, CA
Earn 1.0 Professional Development Hours*
Abstract: The problem of balancing a humanoid robot has received keen interest from the robotics community in the last four decades. However, much less attention has been given to the consequences of a balance failure and fall. In the media we generally see sophisticated humanoid robots doing impressive tasks such as going up stairs, dancing and even running. However, just like a good car is one that has good crash test performance, a safe humanoid robot is one that has safe behavior even in case of a balance failure.
A falling robot is an underactuated system that rapidly gains speed under gravity. The time to act is very short. How can one intervene? In this respect, we will describe our ongoing work on humanoid robot fall strategy which tries to modify the robot's fall direction in order to avoid hitting a person or an object in the vicinity. Our approach is based on intelligent foot placement as well as a method called "inertia shaping" which is aimed at controlling the centroidal inertia of the robot. We demonstrate our results through physics-based simulation and hardware experiments on small humanoid robot.
SPEAKER BIO: Dr. Ambarish Goswami has been with Honda Research Institute in California, USA, for the past eleven years, where he is currently a Principal Scientist. His field is dynamics and control, and his main research is in the application areas of humanoid robots, assistive exoskeletons and vehicle dynamics. He received the Bachelor's degree from Jadavpur University, Kolkata, India, the Master's degree from Drexel University, Philadelphia, PA, and the Ph.D. degree from Northwestern University, Evanston, IL, all in Mechanical Engineering.
Ambarish Goswami's Ph.D. work, under Prof. Michael Peshkin, was in the area of automated assembly and robot-assisted surgery. For four years following his graduation he worked at the INRIA Laboratory in Grenoble, France, as a member of the permanent scientific staff (Charge de Recherche). He became interested in human walking and in biomechanics while working on "BIP," the first anthropomorphic biped robot in France. This interest in gait study subsequently brought him to Prof. Norm Badler's Center for Human Modeling and Simulation at the University of Pennsylvania, Philadelphia, as an IRCS Fellow, and a three year position as a core animation software developer for 3D Studio Max at Autodesk. Ambarish has held visiting researcher positions at the Ohio State University and the University of Illinois at Urbana-Champaign for short periods.
Ambarish has more than 70 publications with a total of over 3400 Google Scholar citations; he has eleven patents. Ambarish currently serves in the Editorial Boards of the International Journal of Humanoid Robotics and Robotica. He is one of the Editors-in-Chief of the Springer Handbook of Humanoid Robotics (in preparation). Ambarish is an ASME Fellow.
This event is graciously hosted by StudioRED**
115 Independence Drive, Menlo Park, CA 94025
Dinner will be provided.
For any questions, please contact: asme.scvs (at) gmail.com.
PROGRAM (all times US Pacific):
- 6:00 PM ~ 6:30 PM: Registration, Networking, and Dinner
- 6:30 PM ~ 7:15 PM: Technical Talk
- 7:15 PM ~ 7:30 PM: Q&A and Networking
- 7:30 PM: Event ends
* Each engineer must determine whether this seminar meets the Board's requirements. PDH will be awarded if requested at the end of event. 1.0 PDH will be awarded for attending the entire seminar including Q&A session.
** From our host: StudioRED services encompass engineering and the conceptualizing, specifying, designing, prototyping, verification and validation as well as ramping up of a product successfully into manufacturing. With our engineering knowledge and experience, SMP will help you avoid the pitfalls that often derail engineering projects.
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