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Abstract
Interaction between robots and humans has become a significant issue for the future, as the robots has opened their way to human’s daily life. Control algorithm, which once have been considered obsoleted technology plays an important role to design/guarantee safe and well-functioning physical human robot interaction. In this talk, control algorithms along with a (relatively) new actuator system are introduced that are utilized for various service robots that interact with human.
As an example of novel actuator for physical human robot interaction, Series Elastic Actuator (SEA) developed for safe force control is introduced and analyzed in terms of dynamics and control. Disturbance observer is also introduced as a key control technology for the high performance and safe interaction control. Lastly, several exercise robots are introduced as applications of the proposed actuator and control algorithms.
Moreover, several insights that will reveal the way to converge interactive control algorithms and machine learning technology are introduced.
 
Short Bio
Sehoon Oh received the B.S., M.S., and Ph.D. degrees in electrical engineering from The University of Tokyo, Tokyo, Japan, in 1998, 2000, and 2005, respectively.
He worked as an assistant professor at The University of Tokyo until 2012 and was a visiting researcher at the University of Texas at Austin from 2010 to 2011. After working as a senior research at Samsung Heavy Industries and as a research professor at the Department of Mechanical Engineering of Sogang University, he joined the Department of Robotics Engineering, DGIST (Daegu Gyeongbuk Institute of Science and Technology).
He was the winner of the Best Transactions Paper Award from the IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS in 2013, and his research interests include the development of human-friendly motion control algorithms and assistive devices for people.