Title :

Efficient Motion Planning Algorithms and Their Applications

Speaker :

Dr. Liangjun Zhang

Department of Computer Science

Stanford University, USA

Venue :

Room 215, William M. W. Mong Engineering Building, CUHK

Date :

Dec 16, 2010, Thursday
2:30 PM - 3:30 PM

Abstract :

Motion planning automatically computes valid motion for robots to move in workspace and achieve various tasks. Besides robotics, it is also useful for many other applications, including virtual prototyping, CAD, factory automation, computer games, and computational structural biology. In this talk, I will present efficient motion planning algorithms for challenging problems arisen in different applications. One key component of our planning algorithms is a new geometric formulation for quantifying the extent of intersection between 3D models, namely generalized penetration depth computation. Based on this formulation, I will present a retraction-based sampling planner, which is efficient for part disassembly simulation in virtual prototyping. I will also show the first practical path non-existence method for low degrees of freedom (DOF) robots. Finally, I will show our recent work on applying sampling-based motion planning technique to study molecular structure and motion, in particular to sample conformations of folded protein state.

Biography :

Dr. Liangjun Zhang is a NSF Computing Innovation Postdoctoral Fellow of the Department of Computer Science at Stanford University. He received his B.S. and M.S. in Computer Science at Zhejiang University in 2000 and 2003, and his Ph.D. in Computer Science at University of North Carolina at Chapel Hill, USA in 2009. His research interests include motion planning, geometric computation, robotics, CAD and computational structural biology. He was the recipient of the Linda Dykstra Dissertation Award of UNC in 2009. He also received the best paper award at the CAD 2008 conference and a Chinese government award for outstanding Ph.D. students abroad in 2009.

    **************************************** ALL ARE WELCOME ****************************************

Enquiries: Ms. Winnie Wong or Prof. Wen J. Li, Department of Mechanical and Automation Engineering, CUHK at 2609 8337. *MAE Series (2010-11) is contained in the World-Wide Web home page at http://www3.mae.cuhk.edu.hk/maeseminars.php#mae.

Back