- Design and Development of

- Omegabot: Inchworm inspired

- Large deformable morphing

- 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

- 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

- Probabilistic Optimal Planning
   Algorithm for Minimum
   upstream Motions

- Automated Plug-In Recharging
   System for Hybrid Electric
Omegabot: Inchworm inspired robot
Climbing is major subject in robotics research. Omegabot is a finger-sized wood climbing robot with a spine-based gripper. This robot is inspired by the inchworm which can crawl and climb on trees with a simple omega-shaped bending motion. This simple locomotion enables the robot to be smaller and more easily controlled. We suggest a special pattern design for the Composite structures to generate a two-dimensional turning motion and climb a vertical wood surface. This research is about the design and fabrication of Inchworm inspired robot and a proper selection of smart actuators with mechanisms for improving actuation performance. Our results demonstrate that Omegabot can crawl, turn, and climb on a tree. This robot can be used for search and rescue, or gathering useful information in areas where only small-scale robots can penetrate.

For more information, visit the lab webpage., 02-880-7149