Abstract: (i) PODs are basically complicated hinges. A typical hinge has only one available path between the open and closed positions. A fully synthesized POD can only produce a single motion between the open and closed positions, but the POD can be synthesized with a desirable path in mind. PODs are useful in manufacturing processes with a large number of parts and little variation. (ii) Shape-Changing mechanisms resemble compliant mechanisms in capacity, but achieve the result through the use of rigid links and revolute joints only. A wing and a spoiler design have been generated with this theory. (iii) Humanoids are a particularly active research area at LIRMM. New developments in the static modelling of humanoid robots will also be presented.

Bio: Dr. Andrew Murray is an Associate Professor in the Department of Mechanical and Aerospace Engineering at the University of Dayton in Dayton, Ohio. He joined the faculty as an Assistant Professor in 1997 after completing his B.S. in Mechanical Engineering at Rose-Hulman Institute of Technology in 1989, and his M.S. and Ph.D. at the University of California Irvine in 1993 and 1996, respectively. Dr. Murray's research focuses on the use of kinematics in the synthesis of highly constrained mechanical systems. Recent topics include defining a methodology for the design of shape-changing mechanisms, developing software for designing part orienting devices useful in hard automation applications, and generating effective mass models specifically suited to humanoid robotics. He is currently servicing a National Science Foundation grant on the design of part orienting devices and has a joint appointment as the Associate Director of the University of Dayton's Honors and Scholars Program.