题目：Mutual Adaptable Manipulator System for Teleoperation

时间：2019年9月29日 15:00-16:00

地点：机械与动力工程学院 F310会议室

邀请人：曹其新 教授（生物医学制造与生命质量工程研究所）

Biography

Prof. Hiroshi Yokoi obtained his Ph.D. at the Hokkaido University in Japan in March 1993, then as a fellow researcher worked in the University of Zurich and the University of West England respectively, and served as an associate professor at the University of Tokyo, after that he joined the Electro-Communication University in 2009. He is also the Guest Professor of SJTU from 2018 to 2021. His current research interests focus on Robotics, Artificial Life, Machine Learning, Neural Network, Medical and Welfare Engineering, etc. He has published 6 invited book chapters, over 400 papers, and as a reviewer for more than 20 species of international academic journal.

Abstract

For a wide range of application of teleoperation, manipulator with the function of multi degrees of freedom is the most basic equipment. The purpose of teleoperation is translating the intention of human motion to the certain working space with highly accuracy of end effector position control and mechanical impedance of joint manipulation. In order to obtain this functions, both of the mechanical design of Six +α DOF manipulator that fit for flexible motion control of end effector positioning and adaptable control that fit for the intentions of human motion, such as mutual adaptable manipulator system is necessary.

The realized applications are prototype of the teleoperation system for robotic welding, and the basic joint mechanism for the robotic surgery. The robotic welding uses interference driven mechanism with double arm controlled by 3D motion tracker system that is able to follow the motion of both hands of worker. For the robotic surgery, several joint mechanism is investigated.

This report summarizes the results concerning on the mutual adaptable manipulation during my stay at the Robotic Lab during September 2019.