- 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
Hands on surgical robot: Shared control system
Conventional surgical robots have been mainly developed for major surgery and there have been demands for minor surgical devices. This surgical robot which consists of a robot manipulator together with end-effector and force sensor is developed to assist various minor surgeries. By sensing the intention of user using force sensor attached on the end-effector, we can make non-backdrivable commercial manipulator to be backdrivable. The user can feel as if the tool is freely placed in space with no resistance and did not feel the heavy inertia of the tool. With the pre-programmed trajectory of the robot, this robot could do repetitive job stand in for a surgeon. The control algorithm is mainly based on the impedance control and admittance control. With the shared control system, a surgeon can cooperate with the robot and judge the situation and impose repetitive jobs to the robot. This system could relieve fatigue of the surgeon in various minor surgeries.

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