Page 34 - ASME_AM3DIDETC_2016_Program

Keynote and Plenary Lectures

IDETC/CIE/AM3D

from 1998 to 2004. He was the Chairman of the Department of Mechanical and functional materials that help to manage these interactions. Investiga-
Engineering and Applied Mechanics from 2005 to 2008. He served as the tions of surface interactions also allow us to discover new opportunities for
Deputy Dean for Education in the School of Engineering and Applied synergy when combining multiple locomotion modes (e.g., flying and
Science from 2008 to 2012. He then served as the assistant director of climbing). Here again, we find parallels in nature.
robotics and cyber physical systems at the White House Office of Science
and Technology Policy (2012–2013). Biography: Mark R. Cutkosky is the Fletcher Jones Professor in the Depart-
ment of mechanical engineering at Stanford University. He joined Stanford in
Dr. Kumar is a Fellow of the American Society of Mechanical Engineers 1985, after working in the Robotics Institute at Carnegie Mellon University
(2003), a Fellow of the Institution of Electrical and Electronic Engineers and as a design engineer at ALCOA, in Pittsburgh, PA. He received his PhD
(2005), and a member of the National Academy of Engineering (2013). in mechanical engineering from Carnegie Mellon University in 1985.

Dr. Kumar’s research interests are in robotics, specifically multirobot Cutkosky’s research activities include robotic manipulation and tactile
systems, and micro aerial vehicles. He has served on the editorial boards sensing and the design and fabrication of biologically inspired robots. He
of the IEEE Transactions on Robotics and Automation, IEEE Transactions has graduated over 45 PhD students and published extensively in these
on Automation Science and Engineering, ASME Journal of Mechanical areas. He consults with companies on robotics and human/computer
Design, ASME Journal of Mechanisms and Robotics and the Springer Tract interaction devices and holds several patents on related technologies. His
in Advanced Robotics (STAR). work has been featured in Discover magazine, The New York Times,
National Geographic, Time magazine and other publications and has
He is the recipient of the 1991 National Science Foundation Presidential appeared on PBS NOVA, CBS Evening News, and other popular media.
Young Investigator award, the 1996 Lindback Award for Distinguished
Teaching (University of Pennsylvania), the 1997 Freudenstein Award for Cutkosky’s awards include a Fulbright Faculty Chair (Italy, 2002), Fletcher
significant accomplishments in mechanisms and robotics, the 2012 ASME Jones and Charles M. Pigott Chairs at Stanford University, an NSF
Mechanisms and Robotics Award, the 2012 IEEE Robotics and Automation Presidential Young Investigator award, and Time magazine’s Best
Society Distinguished Service Award, a 2012 World Technology Network Inventions of 2006 for the Stickybot gecko-inspired robot. He is a fellow of
Award, and a 2014 Engelberger Robotics Award. He has won best paper ASME and IEEE and a member of Sigma Xi.
awards at DARS 2002, ICRA 2004, ICRA 2011, RSS 2011, and RSS 2013,
and has advised doctoral students who have won Best Student Paper Cutkosky’s laboratory and research can be found at http://bdml.stanford.edu.
Awards at ICRA 2008, RSS 2009, and DARS 2010.

More information about Kumar’s research can be found in his TED Talks.
Wednesday, August 24
Time: 9:00am–10:00am
Location: 203A, Meeting Level
Tuesday, August 23 MR-10-6 Origami Symposium Keynote
Time: 2:00pm–3:40pm
Location: 203A, Meeting Level Tomohiro Tachi

University of Tokyo
Mark R. Cutkosky
Tokyo, Japan
Stanford University
“Designing Rigidly Foldable Origami Structures”
Stanford, California
Abstract: Rigidly foldable origami structures are parallel mechanisms made
Bioinspired Robots and Mechanisms: Embracing the Environment of rigid plates and hinges, which are useful for the designs of deployable
structures and self-folding systems in different scales. To design such
Abstract: As we bring robots out of the laboratory and into the world at structures, we need to judge if a given pattern forms a finite mechanism or
large, one of the most important lessons we can learn from nature is how not. This problem of rigid foldability has an inherent hardness, especially
not just to tolerate but to embrace forceful interactions with materials and when dealing with the singularity and degeneracy. However, lots of
surfaces in the environment. Examples of robots that need to take advan- interesting behaviors of origami patterns come from these wicked cases; for
tage of surface interactions include multimodal flying/climbing robots, example, bifurcation at the singular state of origami can lead to reprogram-
microtugs, and free-flying robots that grasp objects using gecko-inspired mable folding patterns, and the degenerate constraints yield overcon-
adhesives. These robots use specialized materials and mechanisms to strained mechanisms with high stiffness and flexibility. The speaker talks
manage their forceful interactions with the surfaces they contact. In each about design methods to exploit such unusual behavior of origami patterns
case dynamic models and tests lead to computed “envelopes” of conditions to create new deployable structures and metamaterials.
for which the robot is expected to perform reliably—for example, to latch
onto a surface without slipping or bouncing off. As contact takes place, the
34 dynamics are often very fast, so that passive properties of mechanisms are
Biography: Tomohiro Tachi is an assistant professor in Graphic and
more effective than closed-loop control to dissipate energy, distribute
Computer Sciences at the University of Tokyo. He studied architecture
forces, and stabilize the robot. Nature offers many examples of structures
and received his PhD degree in engineering from the University of Tokyo.