报告题目：New Morphing Locomotion Mechanism and Adaptive Path Following of Biomimetic Crawling Robots
报告人：Dr. Yantao Shen
报告简介：In this talk, towards an effective solution/framework for dealing with the current soft crawling robotic challenges/technical problems, we propose to adopt the novel semi-soft or semi-rigid mechanism, calledRigid Elements Linked Shape-Morphing mechanism(RELSM), for enabling high-performance soft crawling robots. The mechanism facilitates the capability of accurately configuring the robot body shape and producing significant forces, which allows the robot to be compliant and robust enough to adapt to contacts and impacts but stiff enough to apply required forces. These advantages are validated through extensive simulation and experiments on our high shape-morphing worm-like robotic systems. The results indicate the RELSM method is a competitive technical solution to advance soft crawling robots research. In addition, our recent progress on path following for a class of underactuated multi-link snake-like crawling robots will be further presented. Several following results will be demonstrated, and the related dynamic modeling, path planning, and adaptive control strategies will be discussed.
报告人简历：Yantao Shen received his BS and MS degrees from Beijing Institute of Technology, and the Ph. D. degree from the Chinese University of Hong Kong. He is currently an Associate Professor in the Department of Electrical and Biomedical Engineering at University of Nevada, Reno (UNR). Dr. Shen’s current research interests include Bio-robotics/-mechatronics, Bioinstrumentation and Automation, Sensors and Actuators, Visual Servoing, and Tactile & Haptic Interfaces. He has authored-coauthored two book chapters and over 120 peer-reviewed journal and conference papers, and co-holds four US patents. His research papers have been nominated/selected as a finalist for Best Vision Paper Award in the 2001 IEEE ICRA, a finalist for Best Conference Paper Award in the 2007 IEEE RO-MAN, a winner of the T. J. Tarn Best Robotics Paper Award in the 2009 IEEE ROBIO, a finalist for Best Conference Paper Award in the 2014 IEEE ROBIO, a finalist for Best Paper Award in Biomimetics in the 2015 IEEE ROBIO, and a finalist for Best Student Paper Award in the 2017 IROS.
Dr. Shen’s research is currently supported by NSF and National Robotics Initiative (through NIH R01). He was a recipient of NSF CAREER Award, the 2015 Excellence Award from UNR College of Engineering and the UNR IEEE Outstanding Electrical Engineering Professor in both 2010 and 2011.