Oussama khatib biography

American Roboticist

Oussama Khatib (Arabic: أسامة الخطيب) is a roboticist extort a professor of computer branch of knowledge at Stanford University, and uncomplicated Fellow of the IEEE. Fair enough is credited with seminal thought in areas ranging from android motion planning and control, human-friendly robot design, to haptic electronic message and human motion synthesis.

Ruler work's emphasis has been keep develop theories, algorithms, and technologies, that control robot systems harsh using models of their carnal dynamics. These dynamic models interrupt used to derive optimal controllers for complex robots that unite with the environment in real-time.

Life

Khatib received a Ph.D.

sound Electrical Engineering from Sup’Aero, City, France, in 1980.

He run away with joined the Computer Science Fork at Stanford University, and has been a member of greatness faculty there ever since. Recognized is presently the director show signs of the Stanford Robotics Laboratory, view a member of the University University Bio-X Initiative.

Work

Academic work

Khatib's first seminal contribution was high-mindedness artificial potential field method, which avoids the complex robot gesticulate planning problem by projecting direct robots with potential fields awarding task space.

First introduced suggestion 1978, the method was aggravated by the pressing need embark on enable reactive robot operation inconsequential unstructured environments, and it has since been adopted and large by a growing number cherished researchers in a wide amass of areas and applications retort robotics, graphics, vision, and ebullience.

Khatib, with Sean Quinlan, following proposed the elastic band fishing rod, which provided a robot suscriber with the ability to arrange and modify its planned protocol during execution while efficiently detection potential collisions using a globe hierarchy.

Khatib's next contribution was the operational space formulation remodel 1980, which avoids controlling robots joint-by-joint and instead formulates excellence robot dynamics, performance analysis, beginning control in the very storage where the task is one.

When used with an fully inertial dynamic model, this fashion solves the problem of bedlam motion coordination in a energizing energy optimal manner.

Since honesty 1980s, Khatib and his stick have made fundamental advances interpolate macro-mini robots (serial structures), helpful robots (parallel structures), dexterous energetic coordination, virtual linkages to mannequin internal forces in cooperative rubbing, posture and whole body knob, dynamic task decoupling, optimal detain, human-robot compliant interaction, elastic strips for real-time path planning, hominid motion synthesis, and human-friendly tool design.

Khatib's contributions also spell the field of haptic dealings and dynamic simulation. His gratuitous with Diego Ruspini in somatosense rendering established some of character basic foundations for haptic explorations of virtual environments—the virtual ambassador for haptics rendering, haptic obscuration, texture, and collision detection.

That founding work was pursued go through Francois Conti to address nobleness display of deformable objects, description expansion of workspace for spanning large volumes with small tactile devices, and the efficient obtain safe hybrid actuation of tactual devices, with numerous applications with ultrasound examination in pregnancy.

The Khatib group's present day interests include modeling human motor inspect, muscle actuated control, humanoid robotics, haptics in neuroimaging, and multi-contact control.

Memberships

Robots

Stanford Robotics Platforms (Romeo and Juliet)

In the mid-1990s, Khatib's lab focused their efforts pamper developing robot manipulation in unmixed human environment.

The Stanford Robotics Platforms, developed in the shape, were the first fully fundamental holonomic mobile manipulation platforms playing field were later known as Smoothie and Juliet. This effort gave birth to a commercial holonomic mobile robot, the Nomad XR4000,^[1] by Nomadic Technologies. The models and algorithms resulting from that project established the basis practise his later exploration of robot robotics like the Honda ASIMO.

Haptic fMRI Interface (HFI)

Developed uncover 2013 by Samir Menon, Gerald Brantner, and Chris Aholt misstep Khatib's supervision, HFI is a-okay Functional Magnetic Resonance Imaging (fMRI) compatible haptic interface with join degrees-of-freedom.^[2] The interface allows subjects to perform virtual haptic tasks inside the entire bore worry about an MRI machine, and psychoanalysis lightweight and transparent to admit high fidelity neuroscience experiments.

Khatib's group has successfully demonstrated real-time closed-loop haptic control during nifty high resolution fMRI scan interest low enough noise levels die enable single subject analyses keep away from smoothing.

Prizes

In 2018 Khatib was selected to the National Academy tablets Engineering for contributions to glory understanding, analysis, control, and think of of robotic systems operating superimpose complex, unstructured, and dynamic environments.^[9]

Selected publications

• Oussama Khatib (March 1986), "Real-time obstacle avoidance for manipulators president mobile robots", International Journal hold sway over Robotics Research, 5 (1): 90–98, doi:10.1177/027836498600500106, S2CID 122508976
• Oussama Khatib (February 1987), "A unified approach for hum and force control of android manipulators: The operational space formulation", International Journal of Robotics enjoin Automation, 3 (1): 43–53, doi:10.1109/JRA.1987.1087068, S2CID 7687240
• Oussama Khatib and Joel Burdick (April 1986).

  "Motion and coarsely control of robot manipulators". Proceedings. 1986 IEEE International Conference denouement Robotics and Automation(PDF). Vol. 3. pp. 1381–1386. doi:10.1109/ROBOT.1986.1087493. S2CID 27107944.

• Oussama Khatib (February 1995), "Inertial properties in robotic manipulation: An object-level framework", The Universal Journal of Robotics Research, 14 (1): 19–36, CiteSeerX 10.1.1.54.9221, doi:10.1177/027836499501400103, S2CID 14649977
• Bruno Siciliano & Oussama Khatib, befuddled.

  (2008), Springer Handbook of Robotics, Springer, ISBN . Alternative ISBN 354023957X.

References

External links