报告人：Prof.  Anthony A. Maciejewski，from Colorado State University，Professor and Head of the Department of Electrical and Computer Engineering.

报告时间：2014年10月14日（星期二）下午14:00-15:20

报告题目：Kinematically Redundant Robots: The Promise of Human-Like Dexterity

报告地点：紫金港校区海洋大楼311会议室

报告摘要：

The vast majority of robots in use today operate in very structured environments, e.g., in factory assembly lines, and possess only those limited motion capabilities required to perform specific tasks. While these robots can outperform humans in terms of speed, strength, and accuracy for these tasks, they are no match for the dexterity of human motion. Part of a human's inherent advantage over industrial robots is due to the large number of degrees of freedom in the human body. Articulated, i.e., jointed, motion systems that possess more degrees of freedom than the minimum required to perform a specified task are referred to as kinematically redundant. In an effort to mimic the dexterity of biological systems, researchers have built a number of kinematically redundant robotic systems, e.g., anthropomorphic arms, multi-fingered hands, dual-arm manipulators, and walking machines. While these systems vary in their appearance and intended applications, they all require motion control strategies that coordinate large numbers of joints to achieve the high degree of dexterity possible with redundant systems. This talk will discuss the issues that arise when designing such strategies, frequently drawing on the use of the singular value decomposition, including the characterization of redundancy, the quantification of dexterity, and the development of efficient and numerically stable motion control algorithmsthat simultaneously optimize multiple criteria.

报告人简介：

Anthony A. Maciejewski was born in Cleveland, Ohio on July 19, 1960. He received the B.S.E.E (summa cum laude), M.S., and Ph.D. degrees in Electrical Engineering in 1982, 1984, and 1987, respectively, all from The Ohio State University under the support of a National Science Foundation (NSF) graduate fellowship. From October of 1985 to September of 1986 he was an American Electronics Association Japan Research Fellow at the Hitachi Central Research Laboratory in Tokyo, Japan where he performed work on the development of parallel processing algorithms for computer graphic imaging and simulation.

In 1988, Prof. Maciejewski joined the faculty of Purdue University as an Assistant Professor of Electrical Engineering. He was promoted to Associate Professor in 1993 and Full Professor in 1998. In August of 2001 he joined Colorado State University where he is currently a Professor and Head of the Department of Electrical and Computer Engineering. His research and teaching interests center on the analysis, simulation, and control of kinematically redundant robotic systems. His current work focuses on how kinematic redundancy can be utilized to design failure tolerant robotic systems for remote operations. He has over 200 publications, directs a research laboratory and has developed graduate courses in these areas. His commitment to education resulted in his receiving four teaching awards. His research has been supported by NSF, Sandia Nat'l Lab, Oak Ridge Nat'l Lab, DARPA, NASA, Nat'l Imagery and Mapping Agency, Missile Defense Agency, Non-lethal Technology Innovation Center, the NEC Corporation, Caterpillar, AT&T, H-P, Intel, Wolf Robotics, and the TRW Foundation.

Prof. Maciejewski has served on the editorial boards for the IEEE Transactions on Robotics and Automation; IEEE Transactions on Systems, Man, and Cybernetics (Part A); Intelligent Automation and Soft Computing; Pattern Analysis and Applications; Journal of Robotics; Journal of Automation and Mobile Robotics; International Journal of Robotics and Automation and was co-guest editor for a special issue on Kinematically Redundant Robots for the Journal of Intelligent and Robotic Systems. He is a Fellow of the Institute of Electrical and Electronics Engineers "for contributions to the design and control of kinematically redundant robots," and has served as the VP for Financial Activities, AdCom member and Secretary for its Robotics and Automation Society. He was Technical Program Co-chair for the 1997 International Conference on Robotics and Automation (ICRA), Technical Program Chair for ICRA 2002 and has served on over 100 other conference program committees. He is also a member of the Association for Computing Machinery.