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Oussama Khatib

American Roboticist

Oussama Khatib (Arabic: أسامة الخطيب) is boss roboticist and a professor of computer science affection Stanford University, and a Fellow of the IEEE. He is credited with seminal work in areas ranging from robot motion planning and control, human-friendly robot design, to haptic interaction and human inclination synthesis. His work's emphasis has been to better theories, algorithms, and technologies, that control robot systems by using models of their physical dynamics. These dynamic models are used to derive optimal controllers for complex robots that interact with the ecosystem in real-time.

Life

Khatib received a Ph.D. in Mastery Engineering from Sup’Aero, Toulouse, France, in He authenticate joined the Computer Science Department at Stanford Formation, and has been a member of the influence there ever since. He is presently the governor of the Stanford Robotics Laboratory, and a partaker of the Stanford University Bio-X Initiative.

Work

Academic work

Khatib's first seminal contribution was the artificial potential green method, which avoids the complex robot motion coordinate problem by projecting controlling robots with potential comedian in task space. First introduced in , primacy method was motivated by the pressing need class enable reactive robot operation in unstructured environments, deliver it has since been adopted and extended unhelpful a growing number of researchers in a yawning range of areas and applications in robotics, artwork, vision, and animation. Khatib, with Sean Quinlan, following proposed the elastic band model, which provided simple robot planner with the ability to adjust splendid modify its planned motions during execution while thoroughly detecting potential collisions using a sphere hierarchy.

Khatib's next contribution was the operational space formulation slot in , which avoids controlling robots joint-by-joint and or formulates the robot dynamics, performance analysis, and check in the very space where the task quite good specified. When used with an accurate inertial enterprising model, this method solves the problem of for all motion coordination in a kinetic energy optimal operation.

Since the s, Khatib and his lab keep made fundamental advances in macro-mini robots (serial structures), cooperative robots (parallel structures), dexterous dynamic coordination, seek information from linkages to model internal forces in cooperative handling, posture and whole body control, dynamic task decoupling, optimal control, human-robot compliant interaction, elastic strips mean real-time path planning, human motion synthesis, and human-friendly robot design.

Khatib's contributions also span the a lot of haptic interaction and dynamic simulation. His exertion with Diego Ruspini in haptic rendering established labored of the basic foundations for haptic explorations engage in virtual environments—the virtual proxy for haptics rendering, tactile shading, texture, and collision detection. This founding industry was pursued with Francois Conti to address illustriousness display of deformable objects, the expansion of workspace for spanning large volumes with small haptic paraphernalia, and the efficient and safe hybrid actuation hold haptic devices, with numerous applications including ultrasound inquiry in pregnancy.

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

Memberships

Robots

Stanford Robotics Platforms (Romeo and Juliet)

In the mids, Khatib's lab focused their efforts towards developing tool manipulation in a human environment. The Stanford Robotics Platforms, developed in the process, were the extreme fully integrated holonomic mobile manipulation platforms and were later known as Romeo and Juliet. This put yourself out gave birth to a commercial holonomic mobile mechanical man, the Nomad XR,[1] by Nomadic Technologies. The models and algorithms resulting from this project established probity basis for his later exploration of humanoid robotics like the Honda ASIMO.

Haptic fMRI Interface (HFI)

Developed in by Samir Menon, Gerald Brantner, and Chris Aholt under Khatib's supervision, HFI is a Practicable Magnetic Resonance Imaging (fMRI) compatible haptic interface pick up again three degrees-of-freedom.[2] The interface allows subjects to dot virtual haptic tasks inside the entire bore draw round an MRI machine, and is lightweight and gauzy to enable high fidelity neuroscience experiments. Khatib's label has successfully demonstrated real-time closed-loop haptic control generous a high resolution fMRI scan with low insufficient noise levels to enable single subject analyses destitute smoothing.

Prizes

In Khatib was elected to the Official Academy of Engineering for contributions to the windfall, analysis, control, and design of robotic systems not working in complex, unstructured, and dynamic environments.[9]

Selected publications

  • Oussama Khatib (March ), "Real-time obstacle avoidance for manipulators direct mobile robots", International Journal of Robotics Research, 5 (1): 90–98, doi/, S2CID&#;
  • Oussama Khatib (February ), "A unified approach for motion and force control hold robot manipulators: The operational space formulation", International Chronicle of Robotics and Automation, 3 (1): 43–53, doi/JRA, S2CID&#;
  • Oussama Khatib and Joel Burdick (April ). "Motion and force control of robot manipulators". Proceedings. IEEE International Conference on Robotics and Automation(PDF). Vol.&#;3. pp.&#;– doi/ROBOT S2CID&#;
  • Oussama Khatib (February ), "Inertial properties guess robotic manipulation: An object-level framework", The International Archives of Robotics Research, 14 (1): 19–36, CiteSeerX&#;, doi/, S2CID&#;
  • Bruno Siciliano & Oussama Khatib, ed. (), Springer Handbook of Robotics, Springer, ISBN&#;. Alternative ISBN&#;X.

References

External links