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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



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62 KI The 3rd KI International Symposium [2009-09-24] file KAIST_INSTITUTE 36494
61 KIHST International Symposium on Therapeutic Bioengineering [2017-12-01] file KAIST_INSTITUTE 35252
60 KINC KI Seminar [2008-11-11] file KAIST_INSTITUTE 29716
59 FIRIC KAIST Fourth Industrial Revolution Intelligence Center (FIRIC) Held Joint Workshop with EU JRC file KAIST_INSTITUTE 25403
58 Others Joint Seminar Series on Culture Technology & Entertainment Engineering [2008-02-21] KAIST_INSTITUTE 25358
57 KINC International Symposium of FIRST Nano Co-op Center : “Nano-Energy & Health” [2016-07-19] file KAIST_INSTITUTE 18889
56 KI The 4th KI Regular Seminar [2008-06-12] KAIST_INSTITUTE 17442
55 KI the 2nd Exhibition of Space K, Kinetikos [2012-06-21] file KAIST_INSTITUTE 16805
54 Others 미국무부 초청 연사 강연 [2009-07-10] KAIST_INSTITUTE 14980
53 Others The 2009-4th KIUSS Seminar for City of Tomorrow [2009-08-03] KAIST_INSTITUTE 14132
52 KI KI Building Groundbreaking Ceremony / KI 빌딩 기공식 [2008-09-09] file KAIST_INSTITUTE 13462
51 KINC KINC Seminar [2009-09-03] KAIST_INSTITUTE 12204
50 KI 2011 KAIST Institute International Workshop on Smart Media [2011-09-27] file KAIST_INSTITUTE 11297
49 KIITC KIITC, participating in the "IT Convergence Korea 2009" [2009-10-13] file KAIST_INSTITUTE 11239
48 KI the 1st Exhibition of Space K, Melting Point [2012-03-09] file KAIST_INSTITUTE 10709
47 KIHST Launching Symposium of KI for Health Science and Technology [2016-06-03] file KAIST_INSTITUTE 9526
46 KI The 3rd KI Regular Seminar [2008-05-22] KAIST_INSTITUTE 8488
45 KI KAIST Institute International Forum [2010-10-28] file KAIST_INSTITUTE 8352
» KI The 1st KI Regular Seminar [2008-04-24] KAIST_INSTITUTE 7415
43 Others KIEE Symposium on Parallel Graphics and Computation Technology [2008-03-10] KAIST_INSTITUTE 7334
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