Professor Chi-haur Wu

        Department of Electrical Engineering & Computer Science

        Northwestern University, Evanston, IL 60208

        Phone: 847-491-7076

        E-mail: chwu@ece.northwestern.edu

 

 

Video Clips: Applications of bio-mimicking musle-like control: 1 2 3 4 5 6

    Dr. Wu has been with the Department of Electrical Engineering and Computer Science, Northwestern University, Evanston, IL, since 1983. He received his B.S. degree in electrical engineering from the National Taiwan University, Taiwan, during 1973,  his M.S. in electrical engineering from VPI & S.U., Va, during 1977, and his Ph.D. degree in electrical engineering from Purdue University during 1981.  Before joining Northwestern, he was with Unimation Robotics Inc., Danbury, CT for three years.  For the past few years, he has served as the ECE Instructional-Laboratory Director to improve the instructional labs within the ECE department.            

       At Northwestern, he also supervises a solar-car team that builds solar car and competes nationally.  During his tenure at Northwestern, he has supervised 11 Ph.D. and 30 Master students.   His most recent research interest is in areas of bio-mimicking muscle damping control, autonomous robotics, assembly/disassembly automation, and product life evaluation. Currently, he has 4 patents from his research work.  

Area of Interest and Expertise:

1) Industrial robotics, micro-controller and embedded system control.

2) Interactive robotics for industrial, consumer, and recreational applications.

3) Compliance and damper control for active suspension, active force absorbing, and vibration isolation.

4) Remote tele-manipulation and sensing control, Internet and RF.

5) Automated assembly/disassembly system, CAD/CAM/CAE Product (C3P) automation.

6) Muscle compliant control for computer assisted surgical robot and rehabilitation robot.

7) Human augmentation control for hoist and material handling applications.

8) Electrical motor-driven and/or solar-powered vehicles.

9) Internet remote control and sensing.

10) Innovation and Invention.

Patents:

1. "Non-Linear Muscle-like Compliant Controller", Chi-haur Wu and D. T. Lee, US Patent No. 6,243,624 B1, June 5, 2001.

2. "An Intelligent System for Regulating the Speed of an Electric Motorcycle", D. T. Lee and Chi-haur Wu, US Patent No. 6,324,464, Nov.27, 2001.

3. "Heated nozzle assembly", Swee Mok, Janice Danvir, and Chi-haur Wu, US Patent No. 6,837,293. Jan. 4, 2005.

4. "Structure Product Coding System (SPCS) for C3P Product Evaluation", Swee Mok and Chi-haur Wu, filed for patent.

 Selected Publications:

Gyorfi, Julius S., and Chi-haur Wu, "A Minimum-Jerk Speed-Planning Algorithm for Coordinated Planning and Control of Automated Assembly Manufacturing",will be published on IEEE Transactions on Automation Science and Engineering, 2006.

Mok, Swee, and C. H. Wu, "Product Coding Assembly/Disassembly Tree for Product Evaluation", 2004 IEEE Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Dec. 1-3, 2004.

Chi-haur Wu, Swee M. Mok, and Yujun Xie, "Structured Product Coding System (SPCS) for Product Cost Evaluation in a CAE/CAD/CAM Product (C3P) Environment", 2003 IEEE International Conference on Robotics and Automation, May 2003.

Moseberry, C. and C.H. Wu, "Dynamic Systems Performance Optimization in a UNIX
Environment -- A Modified CMAC Design", Computer Measurements Group International Conference, Reno, Nevada, USA, December 2002

Gyorfi, J. S., Chi-haur Wu, "A Hierarchical Model for Coordinated Planning and Control of Automated Assembly Manufacturing", 2001 IEEE International Conference on Robotics and Automation, May 2001.

Mok, Swee, Kenlip Ong, and Chi-haur Wu, " Automatic Generation of Assembly Instructions using STEP", 2001 IEEE International Conference on Robotics and Automation, May 2001.

Mok, Swee, C. H. Wu, and D. T. Lee, "Modeling Automatic Assembly and Disassembly Operations for Virtual Manufacturing," IEEE Trans. on Systems, Man, and Cybernetics, PART A: Systems and Humans, Vol. 31, No. 3, pp. 223-232, May 2001.

Gyorfi, J. S. and C. H. Wu, "Coordinated Planning and Control of Automated Assembly Manufacturing", IEEE Trans. on Systems, Man, and Cybernetics, PART A: Systems and Humans, Vol. 30, No. 2, March 2000, pp. 173-180.

Chang, S.L., C. H. Wu, and D. T. Lee, "Design of an Active Suspension System Based on Muscle-Like Control," 1999 IEEE International Conference on Robotics and Automation, Detroit, May 1999.

Jiang, J., S. Tang, M. Dalal, C. H. Wu, and D. G. Hanson, "Integrated Analyzer and Classifier of Glottographic Signals", IEEE Transaction on Rehabilitation Engineering, Vol.6, No.2, June 1998, pp. 227-234.

Wu, C. H., K. S. Hwang, and S. L. Chang, "Analysis and Implementation of A Neuromuscular-Like Control for Robotic Compliance," IEEE Transaction on Control Systems Technology, Vol.5, No.6, November 1997, pp. 586-597.

Kienzle, T., D. Stulberg, M. Peshkin, A. Quaid, J. Lea, A. Goswami, and C. H. Wu, ``An Computer-Assisted Total Knee Replacement Surgical System Using a Calibrated Robot,'' IEEE Engineering in Medicine and Biology Magazine, Vol.14, No. 3, May/June, 1995, pp. 301-306.

Wu, C. H. and M. G. Kim, "Modeling of Part Mating Strategies for Automating Assembly Operations for Robots,", IEEE Trans. on Systems, Man, and Cybernetics, Vol. 24, No. 7, July 1994, pp. 1065-1074.

Young, K. Y. and C. H. Wu, "Path Feasibility and Modification," Journal of Robotic Systems, Vol. 9, No. 5, July 1992, pp. 613-633.

Wu, C. H., K.Y. Young, K.S. Hwang, and S. Lehman, "Analysis of Voluntary Movements for Robotic Control," IEEE Control Systems Magazine, Vol. 2, No. 1, Feb. 1992, pp. 8-14.

Wu, C. H. and Jou, C.C., "Design of A Controlled Space Curve Trajectory for Robot Manipulators," Trans. of the ASME Journal of Dynamic Systems, Measurement, and Control, June issue, 1991, pp. 248-258.

Wu, C.H., J.C. Houk, K.Y. Young, and L.E. Miller, "Nonlinear Damping of Limb Motion," Multiple Muscle Systems: Biomechanics and Movement Organization, edited by J. M. Winters and S. L-Y. Woo, Springer-Verlag New York Publishers, 1990, pp. 214-235.

Wu, C. H. and C. C. Jou, "Planning and Control of Robot Orientational Path," IEEE Tran. on System, Man, and Cybernetics, Vol. 19, No. 5, Sep./Oct. 1989, pp. 1234-1241.

Veitschegger, W. K. and C. H. Wu, "Robot Calibration and Compensation," IEEE Journal of Robotics and Automation, Vol. 4, No. 6, December 1988, pp. 643-656.

Wu, C. H., "Compliance," International Encyclopedia of Robotics: Application and Automation, John Wiley and Sons, Vol. I, pp.192-202, March 1988, pp. 192-202.

Veitschegger, W. K. and C. H. Wu, "Robot Accuracy Analysis Based on Kinematics," IEEE Journal of Robotics and Automation, Vol. RA-2, No.3, Sep. 1986, pp. 171-179.

Wu, C. H., "Compliance Control of A Robot Manipulator Based on Joint Torque Servo," The International Journal of Robotics Research, Vol. 4, No. 3, Fall 1985, pp. 55-71.

 


Video Clip#1 - Hand controls robot's movement using muscle control!

<a href="robot_glove.mpg" <img src="view.jpg" boarder="0" align="left" width="320" height="280" vspace="10" hspace="20" />

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Video Clip#2 - Tele-manipulation using muscle control!

<a href="tele.avi" <img src="view.jpg" boarder="0" align="left" width="320" height="280" vspace="10" hspace="20" />

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Video Clip#3 - Teaching robot tasks using muscel control!

<a href="teach.avi" <img src="view.jpg" boarder="0" align="left" width="320" height="280" vspace="10" hspace="20" />

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Video Clip#4 - Material handling and hoist manipulation using muscle control!

<a href="hoist.avi" <img src="view.jpg" boarder="0" align="left" width="320" height="280" vspace="10" hspace="20" />

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Video Clip#5 - Vibration-isolation using muscle control!

<a href="vibration.avi" <img src="view.jpg" boarder="0" align="left" width="320" height="280" vspace="10" hspace="20" />

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Video Clip#6 - Active suspension control using muscle control!

<a href="suspension.avi" <img src="view.jpg" boarder="0" align="left" width="320" height="280" vspace="10" hspace="20" />

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