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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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65 Others 제 2회 KIUSS 미래도시 포럼 [2007-04-24] KAIST_INSTITUTE 2934
64 KIITC KAIST-LG전자 공동협력 워크샵 [2007-06-05] KAIST_INSTITUTE 3005
63 Others The 2008-3rd Forum for City of Tomorrow [2008-11-21] file KAIST_INSTITUTE 3020
62 Others 제 7회 KIUSS 미래도시포럼 [2007-10-12] KAIST_INSTITUTE 3031
61 Others 제 8회 KIUSS 미래도시포럼 [2007-10-18] KAIST_INSTITUTE 3038
60 Others The 2nd KIUSS Seminar [2008-06-23] file KAIST_INSTITUTE 3064
59 Others KAIST-화이자제약(주) Strategy Alliance 모색 회의 [2007-04-25] KAIST_INSTITUTE 3084
58 Others The 2008-1st KIUSS Forum for City of Tomorrow [2008-03-17] KAIST_INSTITUTE 3101
57 KI KI International Symposium [2007-09-06] KAIST_INSTITUTE 3106
56 Others The 2008-3rd KIUSS Forum for City of Tomorrow [2008-07-22] file KAIST_INSTITUTE 3167
55 KIB 총장님 초청 KI for BioCentury 세미나 [2007-01-03] KAIST_INSTITUTE 3197
54 Others 제 9회 KIUSS 미래도시포럼 [2007-12-13] KAIST_INSTITUTE 3211
53 KIITC KAIST IT 융합연구소-삼성종합기술원 공동협력 워크샵 개최 [2007-01-31] KAIST_INSTITUTE 3239
52 Others KIEcoE-KEPRI Workshop [2009-08-05] KAIST_INSTITUTE 3260
51 KI KAIST Institute-삼성종합기술원 워크샵 [2007-05-02] file KAIST_INSTITUTE 3272
» KI The 1st KI Regular Seminar [2008-04-24] KAIST_INSTITUTE 3288
49 Others 청정에너지연구소-전력연구원(KEPRI)과 전략적파트너쉽형성을 위한 상호협력각서 교환식 [2007-04-06] KAIST_INSTITUTE 3290
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