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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 2011 KAIST Institute International Workshop on Smart Media [2011-09-27] file KAIST_INSTITUTE 14820
61 KINC International Symposium of FIRST Nano Co-op Center : “Nano-Energy & Health” [2016-07-19] file KAIST_INSTITUTE 19258
60 Others International Symposium on Interaction between Technology and Culture [2007-06-26] KAIST_INSTITUTE 4613
59 KIHST International Symposium on Therapeutic Bioengineering [2017-12-01] file KAIST_INSTITUTE 36977
58 KIR International Workshop on Biomimetic Complex System Design [2008-06-03] file KAIST_INSTITUTE 4876
57 Others Joint Seminar Series on Culture Technology & Entertainment Engineering [2008-02-21] KAIST_INSTITUTE 25604
56 FIRIC KAIST Fourth Industrial Revolution Intelligence Center (FIRIC) Held Joint Workshop with EU JRC file KAIST_INSTITUTE 34967
55 KI KAIST INSTITUTE AWARDS in 2018 [2018-11-27] file KAIST_INSTITUTE 7038
54 KI KAIST Institute International Forum [2010-10-28] file KAIST_INSTITUTE 8697
53 KI KAIST Institute-삼성종합기술원 워크샵 [2007-05-02] file KAIST_INSTITUTE 3985
52 KIITC KAIST IT 융합연구소-삼성전자 통신연구소 협력 워크샵 [2007-04-05] KAIST_INSTITUTE 3982
51 KIITC KAIST IT 융합연구소-삼성종합기술원 공동협력 워크샵 개최 [2007-01-31] KAIST_INSTITUTE 4766
50 Others KAIST 미래도시연구소-행정중심복합도시건설청 MOU 협약식 [2007-07-02] file KAIST_INSTITUTE 4967
49 KI KAIST-CORNELL University Joint Workshop on Nanotechnology [2012-10-16] file KAIST_INSTITUTE 7607
48 KIITC KAIST-LG전자 공동협력 워크샵 [2007-06-05] KAIST_INSTITUTE 3650
47 Others KAIST-화이자제약(주) Strategy Alliance 모색 회의 [2007-04-25] KAIST_INSTITUTE 3742
46 KI KI Building Groundbreaking Ceremony / KI 빌딩 기공식 [2008-09-09] file KAIST_INSTITUTE 14134
45 KINC KI for NanoCentury Invitation Seminar [2007-06-05] KAIST_INSTITUTE 3486
44 KI KI International Symposium [2007-09-06] KAIST_INSTITUTE 10384
43 KINC KI Seminar [2008-11-11] file KAIST_INSTITUTE 31299
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