题目: From Biologically Inspired Robot to Manufacturing
报告人：Prof. Howie Choset
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.
题目: Design of Soft Actuators and Robots
获新加坡国立大学博士学位。从事软体机器人驱动、一体化设计及制造方面的研究。近年来以第一作者身份在Soft Robotics，IEEE/ASME Transactions on Mechatronics, IEEE Robotics and Automation Letters等国际期刊以及ICRA等机器人领域顶级国际会议上发表论文10余篇。
Soft robots, largely constructed from compliant materials, are able to undergo significant configurational changes, in response to external physical stimuli. The inherent softness in robots is enabling applications ranging from rehabilitation and wearable devices to surgery and rescue. In this talk, I will introduce my work on soft dielectric elastomer actuators and soft grippers, with a special focus on the design aspect. The performance of soft actuators and robots can be enhanced by exploring the ample design space offered by soft bodies of amorphous shape or topology and spatially-varying actuation fields.