Robotics@SNU

Research
- Design and Development of
   FLEA

- Omegabot: Inchworm inspired
   robot

- Large deformable morphing
   structure:Flytrap-inspired
   robot

- Wearable robotic hand
- Hands on surgical robot:
   Shared control system
- Situation Understanding for
   Smart Devices

- Wireless Camera Sensor
   Networks Technology

- Mobile Sensor Networks:
   Algorithms and Applications
- Whole-Body Control Framework
    for Humanoid Robot

- Walking Pattern Generation for
   Humanoid Robot

- Robot Hand Control
- Quadruped Robot Control with
   Whole-Body Control Framework

- Human Gait Analysis using
   3D Motion Capture
- Coordination of multiple robots
- Flocking and consensus
- Vision-based guidance and
   navigation

- Online collision avoidance for
   mobile robots

- Wireless sensor network
- Aerial Manipulation
- Haptics/VR
- Autonomous Mobility
- Telerobotics
- Mechanics/Control
- Industrial Control
- Mobile Manipulation
- Simultaneous Visual and
   Inertia Calibration

- Mechanics of Closed Chains
- Motion Optimization via
   Nonlinear Dimension
   Reduction

- Probabilistic Optimal Planning
   Algorithm for Minimum
   upstream Motions

- Automated Plug-In Recharging
   System for Hybrid Electric
   Vehicle
Design and Development of FLEA
A flea, the world best jumping creature, jumps about 100 times its body length. Jumping is very efficient locomotion for small creatures like a flea to overcome terrestrial obstacles. This inspired us to develop FLEA: Flea-inspired Light jumping robot using Elastic catapult with Active storage and release mechanism. We actively tried to take advantage of the mechanism of flea's elastic catapult; joint torque generated by main muscle is reversed by trigger muscle. The cuticle of a flea is realized with Kapton film and glass fiber by the smart composite microstructure (SCM) process. The biological muscle and elastic element, or resilin, are replaced as a shape memory alloy springs. The flea-inspired catapult mechanism, novel manufacturing process, and smart actuator technology created synergy effect, which leads to extremely down-sized jumping robot: 1.1g weight and 2cm body length. The robot has four bar legs which is optimized to reduce redundant rotation thus maximize the speed at take-off. It can overcome an obstacle 32 times its body length.

For more information, visit the lab webpage.

jhp9395@robotics.snu.ac.kr, 02-880-7149