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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
62 KIB 총장님 초청 KI for BioCentury 세미나 [2007-01-03] KAIST_INSTITUTE 3644
61 Others 청정에너지연구소-전력연구원(KEPRI)과 전략적파트너쉽형성을 위한 상호협력각서 교환식 [2007-04-06] KAIST_INSTITUTE 4753
60 Others 제 9회 KIUSS 미래도시포럼 [2007-12-13] KAIST_INSTITUTE 3670
59 Others 제 8회 KIUSS 미래도시포럼 [2007-10-18] KAIST_INSTITUTE 3510
58 Others 제 7회 KIUSS 미래도시포럼 [2007-10-12] KAIST_INSTITUTE 3489
57 Others 제 6회 KIUSS 미래도시포럼 [2007-09-20] KAIST_INSTITUTE 3845
56 Others 제 5회 KIUSS 미래도시포럼 [2007-08-23] KAIST_INSTITUTE 3765
55 Others 제 3회 KIUSS 미래도시 포럼 [2007-06-07] KAIST_INSTITUTE 3831
54 Others 제 2회 KIUSS 미래도시 포럼 [2007-04-24] KAIST_INSTITUTE 3407
53 Others 제 2회 KAIST 미래도시 아이디어 공모전 최종발표회 및 시상식 [2008-02-28] KAIST_INSTITUTE 5890
52 Others 미국무부 초청 연사 강연 [2009-07-10] KAIST_INSTITUTE 15062
51 KI The 7th KI Regular Seminar [2008-10-02] file KAIST_INSTITUTE 4639
50 KI The 6th KI Regular Seminar [2008-07-10] KAIST_INSTITUTE 5053
49 KI The 5th KI Regular Seminar [2008-06-26] KAIST_INSTITUTE 3897
48 KI The 4th KI Regular Seminar [2008-06-12] KAIST_INSTITUTE 17471
47 KI The 3rd KI Regular Seminar [2008-05-22] KAIST_INSTITUTE 8492
46 KI The 3rd KI International Symposium [2009-09-24] file KAIST_INSTITUTE 36514
45 Others The 2nd KIUSS Seminar [2008-06-23] file KAIST_INSTITUTE 3529
44 KI The 2nd KI Regular Seminar [2008-05-08] KAIST_INSTITUTE 4214
43 KI The 2nd KI International Symposium [2008-09-04] KAIST_INSTITUTE 7002
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