Robotics Institute Seminar, April 24
Carnegie Mellon University
Pittsburgh PA 15213-3891
412/268-8525 . 412/268-5576 (fax)
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Haptic interface and controller design for transparent
Department of Electrical and Computer Engineering
The University of British Columbia
Place and Time
Adamson Wing, Baker Hall
Refreshments 3:15 pm
Talk 3:30 pm
Teleoperation in distant, scaled or virtual environments has many
applications, from microsurgery to manufacturing and mining. The
level of teleoperation transparency that can be achieved depends on
the haptic interface used as a master, the dynamic properties of the
teleoperation slave or virtual environment, and the teleoperation
controller. Following a survey of activities in our laboratory, this
talk will address issues of haptic interface and teleoperation
controller design. A 6-DOF desk-top magnetically-levitated joystick
with efficient actuation and a 5-DOF haptic pen with a large
workspace will be described, stressing the use of general
optimization-based methodologies in their design. Mechanism isotropy
and issues of scaling will be discussed. Approaches to the design of
transparent teleoperation controllers will be addressed next.
Tradeoffs of transparency versus robustness will be examined for
fixed controllers and issues of design and implementation of adaptive
controllers will be addressed. Simulations and experimental results
with various systems will be presented.
Tim Salcudean is an Associate Professor in the Department of
Electrical and Computer Engineering at the University of British
Columbia. He received his Ph.D. in Electrical Engineering from U.C.
Berkeley, after which he spent three years as a Research Staff Member
in the robotics group at the IBM T.J. Watson Research Center. During
his first sabbatical, he was a visiting scientist at ONERA-CERT in
Toulouse, France, and held a Killam Research Fellowship. His research
interests are in haptic interfaces, teleoperation and virtual
environments, and optimization-based controller design and tuning. He
is pursuing applications to medical diagnosis and surgery and to the
control of excavator-type machines. He is a Fellow of the British
Columbia Advanced Systems Institute and an Editor of the IEEE
Transactions on Robotics and Automation.
For appointments, please contact the host,
Ralph Hollis, at email@example.com.