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 ics-engineering-distinguished-speaker-series-professor-howie-choset
Robotics Engineering Distinguished Speaker Series:  Professor Howie Choset
Big Problems Come in Small Dimensions\nAbstract: Motion is all around us. M
 otion is particularly interesting when it has many degrees of freedom and 
 those degrees of freedom have to interact with the environment. This talk 
 covers the design, sensing, and planning for snake, multi-agent and modula
 r robot high DOF systems operating in challenging terrains. Each of these 
 systems requires different fundamentals 鈥?geometric mechanics for snake 
 robot locomotion, deferred planning and ergodic search for multi-agent sys
 tems, and novel generator and discriminator networks for modular robots 锟?
 锟?which will be covered in this talk. While no grand unifying theory combi
 nes these approaches, they all share one aspect in common: reduce complex 
 high dimensional problems into low dimensional ones. In pursuit of this in
 vestigation in reduction, my group has created several embedded systems - 
 actuators and edge sensors - to build and deploy robots that stress-test t
 he core assumptions in the theory and demonstrates efficacy for applicatio
 ns of national importance. These applications include minimally invasive s
 urgery, urban search and rescue, manufacturing, assembly in low-Earth orbi
 t, and maintenance of municipal infrastructure. This talk will discuss the
 se confined space applications, and if time permits, the five spin off com
 panies, and one manufacturing institute, that my colleagues and I co-found
 ed to commercialize the core technologies covered in m this talk.\nBio: Ho
 wieChosetis a Professor of Robotics at Carnegie Mellon University where he
  serves as the co-director of the Biorobotics Lab. He received his undergr
 aduate degrees in Computer Science and Business from the University of Pen
 nsylvania in 1990.Chosetreceived his Masters and PhD from Caltech in 1991 
 and 1996.Choset's research group reduces complicated high-dimensional prob
 lems found in robotics to low-dimensional simpler ones for design, analysi
 s, and planning. Motivated by applications in confined spaces,Chosethas cr
 eated a comprehensive program in modular, high DOF, and multi- robot syste
 ms, which has led to basic research in mechanism design, path planning, mo
 tion planning, and estimation. This work has been supported by both indust
 ry and government; DOD support includes two MURIs, one of whichChosetwas t
 he CO-PI, a young investigator award, and multi-PI awards for modular syst
 ems.Choset.s group has produced over 60 journal papers (including 2 in Sci
 ence and one in Proceedings of the National Academies of Sceince), 180 con
 ference papers and 15 patents.Choset.s work has also been recognized by se
 veral best paper awards and nominations at ICRA, IROS and other robotics m
 eetings.Choset's research program has made contributions to challenging an
 d strategically significant problems in diverse areas such as surgery, man
 ufacturing, infrastructure inspection, and search and rescue. In addition 
 to publications, this work has led toChoset, along with his students, to f
 orm several companies including Medrobotics, for surgical systems, Hebi Ro
 botics, for modular robots, and Bito Robotics for autonomous guided vehicl
 es.Choset鈥檚 surgical snake robot cleared the FDA and has been in use in 
 the US and Europe since.Chosetalso leads multi-PI projects centered on man
 ufacturing: (1) automating the programming of robots for auto-body paintin
 g; (2) the development of mobile manipulators for agile and flexible fixtu
 re-free manufacturing of large structures in aerospace, and (3) the creati
 on of a data-robot ecosystem for rapid manufacturing in the commercial ele
 ctronics industry. In 2017,Chosetco-lead the formation of the Advanced Rob
 otics for Manufacturing Institute, which is $250MM national institute adva
 ncing both technology development and education for robotics in manufactur
 ing. Finally,Chosetis a founding Editor of the journal Science Robotics.\n
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