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Seminar - From Generalised Analysis to Application Realisation of Cable-Driven Robots by Dr. Darwin Lau
日期:2018 年 04 月 20 日 ( 星期五)
Time:3:00 pm – 4:00 pm
Venue:EF305

Abstract:

Cable-driven robots have been studied in recent years due to its unique characteristics and advantages. As a result, they have been used in a wide range of applications from large-scale manipulation, bio-inspired robots to rehabilitation. From modelling, dynamics, control and workspace analysis, there exists many difficult challenges due to the characteristic that cables can only pull and not push. One challenge to the study of cable robots is the lack of a general framework to model, analyse and simulate this class of systems. In this presentation, a generalised approach to the study of cable-driven robots will be presented, covering the modelling, control approaches, an open- source software platform, modular hardware unit development and its applications.

Bio-sketch:

Darwin Lau received Bachelor of Engineering (mechatronics) and Bachelor of Computer Science degrees from the University of Melbourne, Australia, in 2008, and the Ph.D degree in robotics from the University of Melbourne, in 2014, on the modelling and analysis of anthropomorphic musculoskeletal cable-driven robots. From 2014 to 2015, he was a postdoctoral research fellow at ISIR, Universite Pierre et Marie Curie, Paris, France, on the ROMEO2 project working on predictive control walking algorithms. Currently, he is an assistant professor at the Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong. His research interests include: the study of kinematics, dynamics and control of complex robotic mechanisms, such as redundantly actuated and cable-driven manipulators. The applications of the work focus on bio-inspired robots, biomechatronics and robotic architecture and construction. He is a member of IEEE, ASME and Robotics and Automation Society. Furthermore, he is currently a junior chair of the RAS Technical Committee on Mechanisms and Design, associate editor of IEEE ICRA, Frontiers in Mechanical Engineering and Robotics and Automation Letters.