When: Thursday 30th of June, 1pm AEDT
Where: This seminar will be presented online via Zoom, RSVP here.
Speaker: Jing (Johnny) Cheng
Title: Robust force learning and control in Surgical robotics
Surgical robotics is a promising field of robotics research. Recent advances in deep learning and robotic imaging provides medical robot with an encouraging future. However, there might be a missing piece in the puzzle: tactile and haptic feedback. In human-performed surgery, a surgeon heavily relies on the force feedback to ensure safety. While in the robotics side, very few approaches have been developed to use the force measurement signals, despite force/torque sensors are commonly used.
In this talk, we present our on-going work on Passive Recurrent Equilibrium Network (Passive-REN). This can be regarded as an approach of passivity-based robust learning, which could potentially learn a safe interaction law between a robot and environment.
Bio: Jing (Johnny) Cheng received his Bachelor’s degree at Harbin Institute of Technology (HIT) in 2014 and Master’s degree at the University of Sydney in 2018. Currently he is a PhD candidate at Australian Centre for Field Robotics (ACFR), working on force control in surgical robotics. His research interest includes robust machine learning and non-linear control.