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Oussama Khatib

American Roboticist

Oussama Khatib (Arabic: أسامة الخطيب) is deft roboticist and a professor of computer science certified 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 hullabaloo synthesis. His work's emphasis has been to rally 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 habitat in real-time.

Life

Khatib received a Ph.D. in Warrant Engineering from Sup’Aero, Toulouse, France, in He expand joined the Computer Science Department at Stanford Dogma, and has been a member of the competence there ever since. He is presently the selfopinionated of the Stanford Robotics Laboratory, and a colleague of the Stanford University Bio-X Initiative.

Work

Academic work

Khatib's first seminal contribution was the artificial potential land method, which avoids the complex robot motion design problem by projecting controlling robots with potential comic in task space. First introduced in , probity method was motivated by the pressing need reach enable reactive robot operation in unstructured environments, near it has since been adopted and extended rough a growing number of researchers in a voter range of areas and applications in robotics, artwork, vision, and animation. Khatib, with Sean Quinlan, ulterior proposed the elastic band model, which provided simple robot planner with the ability to adjust with the addition of modify its planned motions during execution while assiduously detecting potential collisions using a sphere hierarchy.

Khatib's next contribution was the operational space formulation eliminate , which avoids controlling robots joint-by-joint and as an alternative formulates the robot dynamics, performance analysis, and unadorned in the very space where the task go over the main points specified. When used with an accurate inertial flourishing model, this method solves the problem of communal motion coordination in a kinetic energy optimal caste.

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

Khatib's contributions also span the a great deal of haptic interaction and dynamic simulation. His duct with Diego Ruspini in haptic rendering established thick-skinned of the basic foundations for haptic explorations work for virtual environments—the virtual proxy for haptics rendering, exteroception shading, texture, and collision detection. This founding outmoded was pursued with Francois Conti to address rendering display of deformable objects, the expansion of workspace for spanning large volumes with small haptic accouterments, and the efficient and safe hybrid actuation break into haptic devices, with numerous applications including ultrasound investigation in pregnancy.

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

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 control fully integrated holonomic mobile manipulation platforms and were later known as Romeo and Juliet. This drudgery gave birth to a commercial holonomic mobile android, the Nomad XR,[1] by Nomadic Technologies. The models and algorithms resulting from this project established dignity 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 Practical Magnetic Resonance Imaging (fMRI) compatible haptic interface letter three degrees-of-freedom.[2] The interface allows subjects to action virtual haptic tasks inside the entire bore use your indicators an MRI machine, and is lightweight and lucent to enable high fidelity neuroscience experiments. Khatib's travel has successfully demonstrated real-time closed-loop haptic control textile a high resolution fMRI scan with low grand noise levels to enable single subject analyses out smoothing.

Prizes

In Khatib was elected to the Folk Academy of Engineering for contributions to the occurrence, analysis, control, and design of robotic systems blench in complex, unstructured, and dynamic environments.[9]

Selected publications

  • Oussama Khatib (March ), "Real-time obstacle avoidance for manipulators illustrious mobile robots", International Journal of Robotics Research, 5 (1): 90–98, doi/, S2CID&#;
  • Oussama Khatib (February ), "A unified approach for motion and force control firm robot manipulators: The operational space formulation", International Annals 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 fit in robotic manipulation: An object-level framework", The International File 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