The Role of Compliance in Robotics: Towards Human-Friendly Robots
This talk aims to emphasize the importance of compliance in various real-world robotic applications, ranging from the whole-body exoskeleton control to bipedal and quadrupedal locomotion synthesis. In the first leg of the talk, the presenter discloses his past research activities within the context of compliant robotics and shares his experiences. The second leg of the talk is devoted to the introduction of a novel control scheme that is capable of regulating both torque and stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles. This approach potentially leads to unique robotic applications that are built upon the principals of biological sensorimotor control and learning, to yield the adaptability, robustness and dexterity of biological systems. The talk will be concluded by stating the possible future directions in which the aforementioned technology could be used in a way to contribute to the creation of next generation robotic systems.
Barkan Ugurlu received his Ph.D. degree in Electrical and Computer Engineering from Yokohama National University, Japan, in March 2010, with the MEXT scholarship granted by Japan, Ministry of Education, Culture, Sports and Technology. From May 2010 to March 2013, he was a Postdoctoral Researcher, respectively at the Istituto Italiano di Tecnologia, Genova, Italy, and Toyota Technological Institute, Nagoya, Japan. At present, he holds a Research Scientist position at Computational Neuroscience Laboratories of Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan. His research interests are biological sensorimotor control and motor recovery, active orthoses and exoskeletons, robot-aided rehabilitation, humanoid/quadruped locomotion control and multibody dynamics, force and compliance control.