1. Health Care

Oussama Khatib Born 1950 (age 67–68), Residence Nationality, Alma mater Scientific career Fields Oussama Khatib (: أسامة الخطيب‎) is a and a professor of computer science at, and a. He is credited with seminal work in areas ranging from robot and, robot design, to interaction and synthesis.

CS223A - Introduction to Robotics. Course Details. Khatib, Oussama. PDF; Lecture 2. Watch Online: Download.

His work's emphasis has been to develop 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 environment in real-time.

Contents. Life Khatib received a Ph.D. In from, in 1980. He then joined the Department at, and has been a member of the faculty there ever since. He is presently the director of the, and a member of the. Work Academic work Khatib's first seminal contribution was the artificial potential field method, which avoids the complex robot problem by projecting controlling robots with potential fields in task space. First introduced in 1978, the method was motivated by the pressing need to enable reactive robot operation in unstructured environments, and it has since been adopted and extended by a growing number of researchers in a wide range of areas and applications in robotics, graphics, vision, and animation.

Khatib, with Sean Quinlan, later proposed the elastic band model, which provided a robot planner with the ability to adjust and modify its planned motions during execution while efficiently detecting potential collisions using a sphere hierarchy. Khatib's next contribution was the operational space formulation in 1980, which avoids controlling robots joint-by-joint and instead formulates the robot dynamics, performance analysis, and control in the very space where the task is specified.

When used with an accurate inertial dynamic model, this method solves the problem of joint motion coordination in a kinetic energy optimal manner. Since the 1980s, Khatib and his lab have made fundamental advances in macro-mini robots (serial structures), cooperative robots (parallel structures), dexterous dynamic coordination, virtual linkages to model internal forces in cooperative manipulation, posture and whole body control, dynamic task decoupling, optimal control, human-robot compliant interaction, elastic strips for, human motion synthesis, and human-friendly robot design. Khatib's contributions also span the field of haptic interaction and dynamic simulation. His work with Diego Ruspini in haptic rendering established some of the basic foundations for haptic explorations of virtual environments—the virtual proxy for haptics rendering, haptic shading, texture, and collision detection. This founding work was pursued with Francois Conti to address the display of deformable objects, the expansion of workspace for spanning large volumes with small haptic devices, and the efficient and safe hybrid actuation of haptic devices, with numerous applications including ultrasound examination in pregnancy The Khatib group's present day interests include modeling human motor control, muscle actuated control, humanoid robotics, haptics in neuroimaging, and multi-contact control. Memberships.

President of the (IFRR). Fellow of the (IEEE) Robots. Khatib is holding a novel muscle actuated robot arm that uses a hybrid pneumatic muscle and electrical motor actuation mechanism. Stanford Robotics Platforms (Romeo and Juliet) In the mid 1990s, Khatib's lab focused their efforts towards developing robot manipulation in a human environment. The Stanford Robotics Platforms, developed in the process, were the first fully integrated holonomic mobile manipulation platforms and were later known as Romeo and Juliet.

This effort gave birth to a commercial holonomic mobile robot, the Nomad XR4000, by Nomadic Technologies. The models and algorithms resulting from this project established the basis for his later exploration of humanoid robotics like the Honda. Haptic fMRI Interface (HFI) Developed in 2013 by, Gerald Brantner, and Chris Aholt under Khatib's supervision, is a Functional Magnetic Resonance Imaging (fMRI) compatible haptic interface with three degrees-of-freedom. The interface allows subjects to perform virtual haptic tasks inside the entire bore of an MRI machine, and is lightweight and transparent to enable high fidelity neuroscience experiments. Khatib's group has successfully demonstrated real-time closed-loop haptic control during a high resolution fMRI scan with low enough noise levels to enable single subject analyses without smoothing. Prizes.

Robotics and Automation Technical Field Award (TFA) 2017. Distinguished Service Award 2013.

Pioneer Award 2010. for Excellence in Physical Sciences & Mathematics 2008. (JARA) Award in Research and Development. Selected publications. Oussama Khatib (March 1986), 'Real-time obstacle avoidance for manipulators and mobile robots', International Journal of Robotics Research, 5 (1): 90–98,:.

Oussama Khatib (February 1987), 'A unified approach for motion and force control of robot manipulators: The operational space formulation', International Journal of Robotics and Automation, 3 (1): 43–53,:. Oussama Khatib and Joel Burdick (April 1986), 'Motion and force control of robot manipulators', Robotics and Automation. 1986 IEEE International Conference on: 1381–1386,:.

Health Care

Oussama Khatib (February 1995), 'Inertial properties in robotic manipulation: An object-level framework', The International Journal of Robotics Research, 14 (1): 19–36,:. Bruno Siciliano & Oussama Khatib, ed. (2008), Springer,.

References.

The purpose of this course is to introduce you to basics of modeling, design, planning, and control of robot systems. In essence, the material treated in this course is a brief survey of relevant results from geometry, kinematics, statics, dynamics, and control.

The course is presented in a standard format of lectures, readings and problem sets. There will be an in-class midterm and final examination. These examinations will be open book. Lectures will be based mainly, but not exclusively, on material in the Lecture Notes book. Lectures will follow roughly the same sequence as the material presented in the book, so it can be read in anticipation of the lectures Topics: robotics foundations in kinematics, dynamics, control, motion planning, trajectory generation, programming and design.

Prerequisites: matrix algebra. Khatib, Oussama Khatib's current research is in human-centered robotics, human-friendly robot design, dynamic simulations, and haptic interactions.

His exploration in this research ranges from the autonomous ability of a robot to cooperate with a human to the haptic interaction of a user with an animated character or a surgical instrument. His research in human-centered robotics builds on a large body of studies he pursued over the past 25 years and published in over 200 contributions in the robotics field. Khatib was the Program Chair of ICRA2000 (San Francisco) and Editor of ``The Robotics Review' (MIT Press). He has served as the Director of the Stanford Computer Forum, an industry affiliate program. He is currently the President of the International Foundation of Robotics Research, IFRR, and Editor of STAR, Springer Tracts in Advanced Robotics. Khatib is IEEE fellow, Distinguished Lecturer of IEEE, and recipient of the JARA Award.