[PAST] Robotic Problems RISE from Friction: Research Activities in Robotics & Intelligent System Engineering
[PAST] Robotic Problems RISE from Friction: Research Activities in Robotics & Intelligent System Engineering [1,198]
2018 / 09 / 19 PM 5:00
Location: 301 - 1420
Speaker: Prof. Hyungpil Moon
Hyungpil Moon received the B.S. and M.S. degrees in mechanical engineering from POSTECH, Pohang, South Korea, in 1996 and 1998, respectively, and the Ph.D. degree in mechanical engineering from the University of Michigan, Ann Arbor, MI, USA, in 2005. He was a Postdoctoral Fellow at the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA, until 2007, and joined the faculty of the School of Mechanical Engineering, Sungkyunkwan University, Seoul, South Korea, in 2008, where he is currently an Associate Professor. He has been developing hydraulic actuator control technologies for robotic applications and task planning methods considering manipulation issues. His research interests include robotic manipulation, hydraulic robots, mobile robot technologies, and polymer-based sensors and actuators. Dr. Moon is the Editor-in-Chief of the Journal of Korea Robotics Society, a Technical Editor of the IEEE/ASME TRANSACTIONS ON MECHATRONICS, co-chair of IEEE RAS Technical Committee on Robot Hand, Grasping and Manipulation, and the creator of Autonomous Drone Racing.
Collaborative robots have emerged in markets and become the core element of innovation in manufacturing, so-called industrial 4.0. Some of the key technologies of the collaborative robots are ‘force control,’ and ‘human-robot collaboration’, which ultimately lead to direct teaching methods, easy and intuitive programming of the robotic manipulation for the real field applications. However, such results did not come in free. One of the fundamental, traditional, but still critical subjects to realize manipulator force control is to model and compensate for the friction of the robotic joint. Although many research groups have studied several models and compensation methods for years, such an issue is still critical to developing collaborative robots. In this talk, I discuss research activities in RISE LAB related to friction; modeling and compensation for an electric motor driven robot and a hydraulic powered robot. Furthermore, by understanding of friction, we can manipulate parts in non-prehensile ways, without grasping.