- 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
Mechanics of Closed Chains

Eclipse mechanism in an actuator singularity configuration
Researches about parellel mechanisms in our lab include kinematic and dynamic modeling, performance analysis, optimal design, and calibration of closed chains. The unifying thread in our work is the application of tools from modern differential geometry to characterize, e.g., manipulability, kinematic singularities, and design parameter sensitivity for the most general kinematic chains containing closed loops, the presence of both passive and active joints, and possibly redundant actuation. Our latest work focuses on ways to design mechanisms with reduced vibration characteristics---in a recent paper we show how maximizing the lowest natural frequency of a mechanism with respect to the inertial parameters can be framed as a convex programming problem.

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