报告题目：Biomimetic Adaptation and Learning for Compliant Robot Control
报告人：Dr. Yongping Pan,Senior Research Fellow, National University of Singapore, Singapore
报告摘要：The rapid population aging has been pushing the primary focus of robotic research from industrial robots that are separated from humans to service robots that coexist and cooperate with humans. A key feature of service robots is that they may physically interact with humans so that safety is the foremost concern. Passive compliant actuation is a natural way toward safe physical human-robot interaction (pHRI), whereas active compliant control is an enablingtechnology to achieve safe pHRI.Conventional robot systems usually increase control gains to compensate for high nonlinearities of the robot dynamics resulting in potentially dangerous motion, unsafe pHRI, and degraded closed-loop stability. On the contrary, biological systems employ compliant and robust control via low control gains, which avoids the drawbacks of conventional robot control.In this talk, the compliant actuation designis briefly introduced and novelbioinspired adaptive and learning control strategies are presented for robots driven by compliant actuators. The effectiveness and superiority of these control strategies are demonstrated by both simulations and experiments.
个人概况：Yongping Pan (潘永平)received the Ph.D. degree in control theory and control engineering from the South China University of Technology, Guangzhou, China in 2011. He was a Control Engineer of the Santak Electronic Co., Ltd., US Eaton Group, Shenzhen, China, and the US Light Engineering Co., Ltd., Guangzhou from 2007 to 2008. From 2011 to 2013, he was a Research Fellow with the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore. He is currently a Senior Research Fellow with the Department of Biomedical Engineering, National University of Singapore, Singapore. His research interests include nonlinear andadaptive control, neural networks andlearning systems, and their applications to compliant robots. He has authored/co-authored more than 80 peer-reviewed academic papers, including over60 refereed journal papers and 3 ESI Highly Cited Papers. Dr. Pan has been invited as an Associate Editor/Editorial Board Member of numerous refereedSCIjournalsand has served as a Reviewer for over 50 refereed SCIjournals. He has also served on a number of conference committees.