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SUMMARY:Position control of a musculoskeletal system: an effective combina
 tion of a feed-forward and feedback manner
DTSTART:20151207T100000
DTSTAMP:20260610T202628Z
UID:34b970d79f34e73c39fc452eafe6f5cffb545fd155a5a6bff7516c10
CATEGORIES:Conferences - Seminars
DESCRIPTION:Prof. Kenji Tahara\, Kyushu University\, Fukuoka\, Japan\nMove
 ments of human are still more smooth and dexterous than that of present ro
 botic systems. It is said that these sophisticated movements are conducted
  by the appropriate combination of two main control strategies\, a feed-fo
 rward control using proprioceptive information and a feedback control usin
 g a lot of sensory information such as visual or tactile information. It i
 s known that the sensory feedback control loop of a human body contains a 
 considerable time-delay.\nIn particular\, the visual feedback loop has mor
 e than 100 [ms] delay from just a sensing moment to its response movement.
  Therefore\, it is hard to accomplish a agile movement conducted within sh
 orter than dozens of milliseconds by only using the sensory feedback contr
 ol manner. Meanwhile\, making only use of the feed-forward control manner 
 must be difficult to perform an accurate and robust positioning in unknown
  environments. Namely\, both the feed-forward and feedback control manners
  play each crucial role in the strategy of a human body movement.\nIn this
  talk\, the control strategy for the musculoskeletal system which combines
  a muscle internal force feed-forward control and a task-space feedback co
 ntrol including a considerable time-delay. By using both the feed-forward 
 and feedback control\, a robust reaching movement can be accomplished. The
  effectiveness of our proposed controller is illustrated through numerical
  simulation results.\nBio: Kenji Tahara received B.S.\, M.S.\, and Ph.D. d
 egrees in Robotics from Ritsumeikan University\, in 1998\, 2000 and 2003\,
  respectively. He was a Research Scientist of the Bio-Mimetic Control Rese
 arch Center at RIKEN from 2003 to 2007\, and a Research Associate Professo
 r of the Institute of Advanced Study at Kyushu University from 2007 to 201
 1. He is currently an Associate Professor of the Department of Mechanical 
 Engineering at Kyushu University\, Japan. He stayed LASA laboratory admini
 stered by Prof. Billard at EPFL as a visiting researcher from 2013 to 2014
 . His current research interests include mechanics and control of multi-fi
 ngered robotic hand and human musculoskeletal body movements.
LOCATION:CM1105 http://plan.epfl.ch/?lang=fr&room=CM1105
STATUS:CONFIRMED
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