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Peng Pan
PhD Student, LIMS Lab


Office: B224 Tech Institute
Phone: (847) 467-1223
Email: panpeng@northwestern.edu

Mailing address:
Mechanical Engineering Department
2145 Sheridan Road
Evanston, IL 60208

For more information, see my personal homepage.

 

Research Interests

Robotic Manipulation

Motion Planning

Human Robot Interaction

Mechatronics

Signal/Image Processing

Projects

 

Stable Limit Set Behavior in a Dynamical Parts Feeder

By not grasping, a simple robot with few degrees-of-freedom can control an object with more degrees-of-freedom by exploiting dynamic effects, such as centrifugal and Coriolis forces.

We describe a one-joint planar arm which repeatedly throws and catches parts on its surface, and we demonstrate that proper choice of the throw velocity and arm geometry guarantees that the part will enter a unique recurrent motion pattern from a large set of initial configurations. The resulting system resembles an open-loop stable juggler of polygonal parts.

Human Interaction with Kinematic Constraints

Of several possible forms of human-robot collaborative manipulation, we focus on the case where the human and the robot jointly manipulate a common load. In our formulation, the robot’s role is to provide a constraint surface to guide the motion of the load. The value of this form of interaction, in terms of ergonomics, accuracy, or speed, depends on how humans make use of such constraints. 

 

Publications
  • Human Interaction with Passive Assistive Robots
    Peng Pan, Kevin M. Lynch,  Michael A. Peshkin, J. Edward Colgate
    IEEE 9th International Conference on Rehabilitation Robotics, June 2005.

 

  • Static Single-Arm Force Generation with Kinematic Constraints
    Peng Pan, Michael A. Peshkin, J. Edward Colgate, Kevin M. Lynch
    Journal of Neurophysiology, Vol. 93, p. 2752-2765, May 2005.

 

  • Stable Limit Set Behavior in a Dynamical Parts Feeder
    Kevin M. Lynch, Michael Northrop, Peng Pan
    IEEE Transactions on Robotics and Automation, Vol. 18, No. 4, August 2002.

 

  • Study and Experiment on a Fingerprint Verification System based on DSP Technique
    Xirong Lin, Peng Pan, Xiongwu Xia
    Signal Processing, 1999, Vol. 15, p. 412-419.

  

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2005/5/4 Last Modified.