Sehoon Oh - Somewhere between Robot Control and Servo Control
23 November 2022 - 23 November 2022
East Campus USI-SUPSI - Room A1.02 15h00
As a servo control engineer, who entered robotics control field afterwards, I found that there is a discrepancy between servo control and robot control. This talk is about this discrepancy between them, and also about how the servo control methodologies can be applied to the robot control. Model-based control using Disturbance Observer (DOB) has been a very powerful tool in the servo control, and this talk introduces how this DOB techniques can be applied to robot control. Force control including Series Elastic Actuators as well as force sensor feedback is one of the main application of this approach.

The speaker

Sehoon Oh received 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 was a research associate at The University of Tokyo until 2012, a Visiting Researcher at the University of Texas at Austin from 2010 to 2011, a Senior Researcher at Samsung Heavy Industries, and a Research Professor at Sogang University. He is currently an Associate Professor at DGIST, Daegu, South Korea. His research interests include the development of force control for human-friendly motion control algorithms and assistive/exercise devices for people. Dr. Oh received the Best Transactions Paper Award from the IEEE Transactions on Industrial Electronics in 2013. From March 2022, he is a guest scientist at DLR, Germany until Jan. 2023.