报告内容摘要：

Cable-driven robots have been studied in recent years due to its unique characteristics and advantages. In particular, CDPMs have been regarded as bio-inspired mechanisms that are structurally analogous to musculoskeletal systems, where the rigid links and cables are analogous to the bones and muscles, respectively. A unique characteristic of cable-driven manipulators is that cables can only be actuated unilaterally through tension and not compression. From modelling, dynamics, control and workspace analysis, there exists many difficult challenges common to both human and muscle-driven systems. In this presentation, a generalised approach to the modelling, analysis and simulation of cable-driven robots will discussed. Simulations of example systems that will be presented include those inspired by the human neck and shoulder complex.

报告人简介：

Darwin Lau received Bachelor of Engineering (mechatronics) and Bachelor of Computer Science degrees from the University of Melbourne, Australia, in 2008, and the Ph.D degree in robotics from the University of Melbourne, in 2014, on the modelling and analysis of anthropomorphic musculoskeletal cable-driven robots. From 2014 to 2015, he was a postdoctoral research fellow at ISIR, Universite Pierre et Marie Curie, Paris, France, on the ROMEO2 project working on predictive control walking algorithms. Currently, he is an assistant professor at the Robotics Institute, Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong. His research interests include: the study of kinematics, dynamics and control of complex robotic mechanisms, such as redundantly actuated and cable-driven manipulators,  bio-inspired robots and biomechatronics.
 
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