Mechanical Engineering Seminar
Title: |
Utilizing Discontinuous Differential Equations in Robotics and Simulation |
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Speaker: |
Dr. Ryo Kikuuwe |
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Affiliation: |
Department of Mechanical Engineering, Kyushu University, Japan |
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When: |
Tuesday, December 14, 2010 at 3:00:00 PM |
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Where: |
Love Building, Room 210 |
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Host: |
Jun Ueda | |
Abstract Differential equations including discontinuities exhibit some interesting behaviors. Such behaviors are not only imaginary ones in the abstract mathematical world, but have significant importance for describing and controlling real-world phenomena (e.g., Coulomb friction and sliding mode control). The discontinuities, however, demand special care in numerical simulation and digital control. This talk provides some mathematical techniques to utilize discontinuous differential equations while preserving their characteristics. It then introduces some examples of simulation/control applications, such as haptic rendering and robot control. |
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Biography Ryo Kikuuwe received the B.S., M.S., and Ph.D.(Eng.) degrees from Kyoto University, Kyoto, Japan, in 1998, 2000, and 2003, respectively, all in mechanical engineering. From 2003 to 2007, he was an Endowed-Chair Research Associate with Nagoya Institute of Technology, Nagoya, Japan. He is currently an Associate Professor with the Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan. His research interests include robot manipulator control, real-time simulation for haptic rendering and physics-based animation, and tactile sensing. |
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