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1. Title: [KIDCS] Computational model of neuro-musculo-skeletal system: human biped walking


2. Date and Time: Thursday, April 24, 2008, 16:00 ~ 18:00


3. Place: E1 Seminar Room, Mechanical Engineering Building (N7)


4. Speaker: Prof. Sungho Jo (Div. of Computer Science, KAIST)

                 Ph.D. in electrical engineering and computer science from MIT (2006)

                 Research interests include intelligent robots, human-robot interaction,

                 computational intelligence, computational neuroengineering,

                 biomimetic system design, bio-inspired learning and control, etc.


 5. Abstract

The neurobiological system modeling may be motivated in two perspectives. First, the modeling could help understand the mechanismsor principles of biological system and, secondly, provide useful ideas about the development of robots or artificial systems. In this seminar, a neuro-musculo-skeletal model of human biped walking is introduced, and interesting ideas provoked throughout the model are discussed. Humanoid robotic locomotions or prosthetic legs are exemplified to discuss the usefulness of neurobiological system research.

The proposed model is built by integration of explicit models of neural systems. The whole system of human biped walking consists of cerebro-cerebellar interaction, spinal pattern generator, spinal synergies, peripheral reflex, and spring-like muscular actuator. A role of each neural system is proposed: The suprasegmental (cerebro-cerebellar) system controls postural balance by constructing feedback loop while spinal nervous system generates walking patterns feedforwardly. Spinal synergies facilitate the control of overall muscular behaviors. Each neural system model is discussed neurophysiologically. The integrated model is evaluated in comparison with human in terms of kinematics, dynamics, interaction with the ground, muscular activities, robustness, stability etc. In addition, simple behaviors modulated from nominal walking are realized. The proposed model demonstrates some features as follows. 1) The interaction between neural systems produces a desired motion. 2) Functionally decoupled neural structure enables modulated behaviors by simple local adjustment. 3) Dynamic motion generation may be possible even without detailed inverse dynamics computation or model prediction.


 6. The forthcoming seminar schedule is as follows

Date

Time

Place

KI

Title

Speaker

May 8

15:00

~

17:00

Division of Electrical Engineering (E3-2)

Room 2201

KI for IT Convergence

Development of future city based in construction-IT convergence technology

Prof. Kwak, Hyo-Gyoung

May 22

14:00

~

16:00

Biomedical Research Center (E7)

Room 1111

KI for BioCentury

Peptide Self-Assembly: From Neurodegenerative Diseases To Novel Nanomaterials

Prof. Park, Chan Beum



List of Articles
No. Category Subject Author Views
28 KI The 4th KI Regular Seminar [2008-06-12] KAIST_INSTITUTE 11130
27 KIR International Workshop on Biomimetic Complex System Design [2008-06-03] file KAIST_INSTITUTE 3450
26 KI The 3rd KI Regular Seminar [2008-05-22] KAIST_INSTITUTE 4066
25 KI The 2nd KI Regular Seminar [2008-05-08] KAIST_INSTITUTE 3436
» KI The 1st KI Regular Seminar [2008-04-24] KAIST_INSTITUTE 3289
23 Others The 2008-1st KIUSS Forum for City of Tomorrow [2008-03-17] KAIST_INSTITUTE 3102
22 KI KI Workshop for New Faculty [2008-03-11] KAIST_INSTITUTE 3472
21 Others KIEE Symposium on Parallel Graphics and Computation Technology [2008-03-10] KAIST_INSTITUTE 5914
20 Others Joint Seminar Series on Culture Technology & Entertainment Engineering [2008-02-21] KAIST_INSTITUTE 20420
19 Others 제 9회 KIUSS 미래도시포럼 [2007-12-13] KAIST_INSTITUTE 3212
18 Others KIUSS International Symposium "1st Urban Engineering and Sustainability" [2007-11-26] KAIST_INSTITUTE 2868
17 Others 제 8회 KIUSS 미래도시포럼 [2007-10-18] KAIST_INSTITUTE 3040
16 Others 제 7회 KIUSS 미래도시포럼 [2007-10-12] KAIST_INSTITUTE 3033
15 Others 제 6회 KIUSS 미래도시포럼 [2007-09-20] KAIST_INSTITUTE 3412
14 Others 제 5회 KIUSS 미래도시포럼 [2007-08-23] KAIST_INSTITUTE 3295
13 KI KI International Symposium [2007-09-06] KAIST_INSTITUTE 3108
12 Others KAIST 미래도시연구소-행정중심복합도시건설청 MOU 협약식 [2007-07-02] file KAIST_INSTITUTE 4362
11 KIITC KAIST-LG전자 공동협력 워크샵 [2007-06-05] KAIST_INSTITUTE 3008
10 KINC KI for NanoCentury Invitation Seminar [2007-06-05] KAIST_INSTITUTE 2789
9 Others International Symposium on Interaction between Technology and Culture [2007-06-26] KAIST_INSTITUTE 3724
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