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Foundations of Robotics
Seminar, February 15, 2006
Time
and Place | Seminar Abstract | Speaker
Biography | Presentation Slides | Speaker
Appointments
Distributed
Manipulation Using Naturally Existing Force Fields
Hyungpil Moon
Smith Hall 100
Refreshments 4:45 pm
Talk 5:00 pm
Handling of delicate parts, large flexible
parts, large heavy parts, MEMS parts, or bio-cells are difficult manipulation
problems. One recent approach to these problems is “distributed manipulation.”
Distributed manipulation systems induce motions on objects by applying small
external forces at many contact points. Inherently, distributed manipulation
systems involve redundant actuation, provide tremendous manipulation power, and
are suitable for soft-touch manipulation. The intuitive “brute
force” approach to distributed manipulation is to generate a tractive
planar force field with an array of actuators. This force field acts over the
entire surface of an object to manipulate it arbitrarily in the plane. In
particular, a properly designed force field can bring an object to a unique
stable equilibrium without sensing and feedback.
This talk presents an approach of producing force fields by exploiting the
natural dynamics of physical phenomena such as air flows. The main advantage of
this approach is that force fields are realizable through very simple
actuation. However, force fields generated in such a manner do not lend
themselves to analytical prediction of net forces or equilibria. Modelling of
airflow fields, numerical algorithms for calculating net force and locating
equilibria, and analytical properties of air flow fields are discussed along
with experimental validation on a prototype airflow manipulation system. These
fundamental studies lead to a sequential manipulation algorithm which switches
airflows to place an object to a unique pose at the end of a series of
manipulation steps. Also, a way of designing linear quadratic potential fields
using airflow which do not require sequential manipulation is introduced.
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Speaker Bio |
Hyungpil Moon received the B.S. and M.S.
degrees from the Department of Mechanical Engineering, POSTECH, Pohang, Korea
in 1996 and 1998 respectively, and Ph.D. degree in mechanical engineering from The
University of Michigan, Ann Arbor, MI in 2005. Since year 2001, he has been
working with Dr. Jonathan Lutnz who is a CMU graduate on the topic of
distributed manipulation systems.
He is now a post-doc fellow in the Center for Intelligent Robotics in KIST(Korea
Institute of Science and Technology) and visiting RI hosted by Dr. Howie
Choset.
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Speaker Appointments |
For appointments, please contact Hyungpil
Moon (hyungpil@cmu.edu)
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.