高等研究所 訪問研究員 セミナー:
Professor ZIELINSKA, Teresa
Seminar Series: From the analysis of human activities to the synthesis of robot actions (8/5・8/12・8/16)
講演者 / Speaker
ZIELINSKA, Teresa (Full Professor, Warsaw University of Technology, Poland)
言 語 / Language
英語 / English
対 象 / Prospected Audience
工学系学生・研究者・教職員・専門家 / Sutdents in the Engineering Field, Researchers, Faculty members, Field Specialtists
主 催 / Organizer
早稲田大学高等研究所 / Waseda Institute for Advanced Studies (WIAS)
共催 / Co-Organizer
次世代ロボット研究機構 / Future Robotics Organization, Waseda University
ヒューマノイド研究所 / Humanoid Robotics Institute, Waseda University
申し込み / Registration
事前申し込み不要 / Prior registartion is not required.
Seminar 1: Biological inspirations for robotic applications
主 旨 / Outline
This lecture provides information helpful in constructing modern robots and developing methods for their motion synthesis.
Compared to current designs and capabilities of robots, the animal world has many advantages. Animal body structures are extremely diverse and well adapted to the environment in which they live. Their behaviors allow them to cope with difficult and unexpected situations. Modern robotics often looks for inspiration in biology. Biological inspiration can be drawn from many aspects of the animal world, including the physical structure of their bodies, the organization of the nervous system, movement strategies and behaviors. However, realism is not necessary in biologically inspired robot designs. Knowledge of the features of the animal world allows researchers to propose new solutions, taking from the living world what is helpful in the world of technology. It also avoids some of the errors and weaknesses seen in biology. The seminar presents the basic features of body structure, principles of movement and methods of motion control in the animal world.
The following topics will be discussed:
- Biological locomotion – systematization of animals, taking into account body structure and movement features
- Acoelomates and Coelomates (body structure) and rules of movement.
- principles of motion of vertebrates and arthropods.
- properties of human gait, dynamic and static stability of posture.
- Biological fundamentals of sensing, motion planning and control
- sensing and motion control – vertebrate insects,
- should we imitate biology?
日 時 / Date & Time
2024年8月5日（月）14:00～ / August 5, 2024（Mon） 2:00 PM～
会 場 / Venue
オンライン開催 / Online Session
当日は以下リンクよりアクセスをお願いします。/ Please access from the link below.
https://list-waseda-jp.zoom.us/j/96213270097?pwd=l3MOqZMDZrjDxeSa4tmZm4hahaDazu.1
ID: 962 1327 0097
PASSCODE: 650608
Seminar 2: Motion design and posture representation of humanoid robots. Remarks on mechanical compliance and soft body
主 旨 / Outline
Besides of presenting specific solutions, this seminar illustrates how biological inspirations have been absorbed by robotics.
Two main topics will be discussed:
- Methods for motion synthesis and postures design of humanoid and soft robots.
Within this topic, we will show a method of generating humanoid motion inspired by the biological Central Pattern Generator. We will also present the formal and biologically inspired posture planning methods. Finally, we will discuss the role of compliance incorporated into the feet of a humanoid robot and introduce a crawling soft robot. - Variable inverted pendulum as a model of human body posture: introduction and experimental research
Single inverted pendulum (SIP) models and double inverted pendulum (DIP) models are used to describe the properties of slow gaits and synthesize controllers. The spring-loaded inverted pendulum describes fast walking. These simplified models help design the trajectory of the robot’s resultant mass and determine the steps in model predictive control approaches, but they do not explain how to properly coordinate the movement of individual body parts. The concept of a variable pendulum as a model of the human body will be explained. Comparing to traditional SIP or DIP this model allows to represent motion dynamics for wider set of postures.
日 時 / Date & Time
2024年8月12日（月）16:00～ / August 12, 2024（Mon） 4:00 PM～
会 場 / Venue
オンライン開催 / Online Session
当日は以下リンクよりアクセスをお願いします。/ Please access from the link below.
https://list-waseda-jp.zoom.us/j/98780361642?pwd=zium8Jm2QYyzDH5Zk1Ng5Yz5VvdQy5.1
ID: 987 8036 1642
PASSCODE: 230203
Seminar 3: Towards assistive robotics – learing through observation and motion synergies
主 旨 / Outline
The thematic of this seminar focuses on the recognition and analysis of selected dynamic biological features for using the results in robotics.
Two main topics will be discussed:
- Learning through observation -recognizing human body postures for recognizing the actions.
Applied approaches and our own research will be presented. The motivation for the presented work is the needs of assistive robotics.
The assisting robots are not expected to mimic human motion. However, they should be able to recognize the key postures that a person adopts when performing specific activities and then carry them out on their own. The implementation is not an imitation, we must consider that the kinematics, dynamics and features of the actuating system are different than those of humans. Actions are described as sequences of postures. It is important to automatically recognize the human posture so that the robot learns how to perform specific actions based on human observations. Posture recognition is also useful for recognizing and predicting complex human actions to provide appropriate robotic assistance. - Motion synergies – why are they worth studying?
In the literature, the study of synergy mainly focuses on the comparison of joint motion and the analysis of EMG signals. Less attention is paid to the movements of point masses of the body. Kinematic synergies are defined as coordinated joint movements that in effect reduce the number of degrees of freedom for which is the movement must be defined. However, from the point of view of dynamic posture stabilization, the movement of point masses is of key importance.
This fact became the motivation to propose the similarity measure discussed here. The measure was tested for a set of diverse human movements.
The presented method of similarity analysis gives the result for each instant of time and allows for easily identifying similarities in the movement of point masses of the body.
日 時 / Date & Time
2024年8月16日（金）14:00～ / August 16, 2024（Fri） 2:00 PM~
会 場 / Venue
オンライン開催 / Online Session
当日は以下リンクよりアクセスをお願いします。/ Please access from the link below.
https://list-waseda-jp.zoom.us/j/96021092065?pwd=2CaJpmXJCUnRw5YfzD1VqzoN0ua9lE.1
ID: 960 2109 2065
PASSCODE: 484329
