地点： 上海交通大学机械与动力工程学院A楼F210
主题： Intelligent Control of Robots in Interacting with Unknown
Environments
报告人：Shuzhi Sam GE（葛树志），新加坡国立大学教授，IEEE Fellow, IFAC
Fellow, IET Fellow
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报告摘要：
Robots are expected to participate in and learn from intuitive, long term interaction with humans, and be safely deployed in myriad social applications ranging from elderly care, entertainment to education. They are also envisioned to collaborate and co-work with human beings in the foreseeable future for productivity, service, and operations with guaranteed quality.
In this talk, I will present some of our recent works on control of robots in interacting with unknown environments. When human beings interact with an unknown environment, they have a skill to adjust their limb impedance to achieve a certain objective by evaluating the feedback information from the environment. It is possible to apply this learning skill to robot control. In specific, suppose that the robot dynamics follow an impedance model, its parameters can be adjusted such that a certain cost function is reduced iteratively. Besides impedance learning, trajectory adaptation is another human skill which can be realized by robot control. In a typical human-robot collaboration application, the robot under impedance control is guaranteed to be compliant to the force applied by the human partner. In this way, the robot passively follows the motion of its human partner. Nevertheless, as the robot refines its motion according to the interaction force, it will act as a load when the human partner intents to change the motion. Trajectory adaptation will be developed to resolve this problem such that zero force tracking can be achieved by updating the virtual desired trajectory of the robot.
报告人简介：
Director, Social Robotics Lab, Interactive Digital Media Institute
Supervisor, Robotics Research Lab, Department of Electrical & Computer Engineering
National University of Singapore
Dr. Shuzhi Sam Ge obtained his BSc degree from Beijing University of Aeronautics and Astronautics (BUAA) in 1986, and the PhD degree and the Diploma of Imperial College (DIC) from Imperial College of Science, Technology and Medicine. He is founding Director of Social Robotics Lab of Interactive Digital Media Institute, and Director of Edutainment Robotics Lab of the Department of Electrical and Computer Engineering, the National University of Singapore.His current research interests include social robotics, multimedia fusion, adaptive control, intelligent systems and artificial intelligence. He is a co-founder of Personal E-Motion Pte Ltd dedicated to interactive multimedia digital books for education and digital publishing.
He is the founding Editor-in-Chief, International Journal of Social Robotics, Springer. He has served/been serving as an Associate Editor for a number of flagship journals including IEEE Transactions on Automatic Control, IEEE Transactions on Control Systems Technology, IEEE Transactions on Neural Networks, and Automatica. He also serves as a book Editor of the Taylor & Francis Automation and Control Engineering Series.
He has Co-authored three books: Adaptive Neural Network Control of Robotic Manipulators (World Scientific, 1998), Stable Adaptive Neural Network Control (Kluwer, 2001) and Switched Linear Systems: Control and Design (Springer-Verlag, 2005), edited a book: Autonomous Mobile Robots: Sensing, Control, Decision Making and Applications (Taylor and Francis, 2006), and over 300 international journal and conference papers.
He has been serving as Chair of Technical Committee on Intelligent Control, IEEE Control Systems Society since 2005, member of Multimedia Tutorials Committee, IEEE Computational Intelligence Society, 2005, IFAC Technical Committee on Cognition and Control (TCCC), 2003-Present, and an elected member of Board of Governors, IEEE Control Systems Society, 2007-2009. He served as the inaugural General Chair of IEEE Multi-conference on Systems and Control, Singapore 2007, and the General Chair of the IEEE International Symposium on Intelligent Control, Taipei, 2004.
He was the recipient of the Fellow, IEEE (Institute of Electrical and Electronic Engineers), USA, 2006; Outstanding Overseas Young Research Award, National Science Foundation, China, 2004; Inaugural Temasek Young Investigator Award, Defence Science and Technology Agency (DSTA), Singapore, 2002; Outstanding Young Researcher Award, National University of Singapore, 2001, National Technology Award of the National Science & Technology Board, Singapore,1999.
