2012 1 1 Toward Aerial Manipulation using Quadrotor

서울대학교 기계항공공학부 2012년도 1학기 기계전공대학원 세미나 1. 제 목 : Toward Aerial Manipulation using Quadrotor Robots 2. 연 사 : 이 동 준 교수(서울대 기계항공공학부) 3. 일 시 : 2012년 6월 1일 (금) 16: 30 -17: 30 4. 장 소 : 301동 105호 5. 내 용 : Not being grounded like most other conventional robotic systems (e. g. , wheeled robots), quadrotor robots are promising to truly expand the current robots’ capability to 3 D environments. Some applications include: aerial surveillance and reconnaissance, remote aerial movie shooting, evaluation and repair of infrastructure, and operation on a high-rise building, to name just few. In this talk, I will introduce some recent results in my lab for the control of this quadrotor robot, with an aim toward (teleoperated or autonomous) aerial manipulation using the (single or multiple cooperative) quadrotors, which has much less studied as compared to the quadrotor’ motion control problem, albeit it being an indispensable capability for many practical robotic operations. In particular, the following control problems will be discussed: 1) trajectory tracking control of the quadrotor robot using backstepping in SE(3); 2) semi-autonomous teleoperation of multiple quadrotors with distributed cohesion/avoidance actions; 3) distributed formation control of multiple quadrotors on a balanced information graph; and 4) dynamics and control of some simple tool operations by a single quadrotor robot. Some other research activities in my lab will also be briefly introduced if time permits. 6. 연사약력 : Dongjun Lee received the B. S. degree in mechanical engineering from Korea Advanced Institute of Science and Technology (KAIST), Taejon, Korea, in 1995, the M. S. degree in automation and design from KAIST, Seoul, Korea, in 1997, and the Ph. D. degree in mechanical engineering from the University of Minnesota at Twin Cities, in 2004. Since 2011, he has been an Assistant Professor with the School of Mechanical & Aerospace Engineering at the Seoul National University (SNU). Prior to joining SNU, he was an Assistant Professor with the Department of Mechanical, Aerospace and Biomedical Engineering at the University of Tennessee – Knoxville from 2006 to 2011, a Postdoctoral Research Fellow with the Coordinated Science Laboratory at the University of Illinois at Urbana-Champaign from 2004 to 2006, and an Engine Development Engineer at Kia Motors Corporation, Korea, from 1997 to 1999. His main research interests are dynamics and control of robotic and mechatronic systems with particular emphasis on teleoperation/haptics, multirobot systems, aerial/mobile robotic systems, and automotive systems control. Dr. Lee received the National Science Foundation CAREER Award in 2009, was a 2002 -2003 Doctoral Dissertation Fellow of the University of Minnesota, and is currently serving as an Associate Editor of the IEEE Transactions on Robotics. 7. 문 의 : 기계항공공학부 김호영 교수 (hyk@snu. ac. kr) 기계항공공학부 차세대 기계항공시스템 창의설계 인력양성사업단