- 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
Automated Plug-In Recharging System for Hybrid Electric Vehicle

Floor-mounted Platform

Mobile Platform
Electric vehicles requiring battery charging from an off-board power source are currently being implemented in three different configurations: plug-in hybrid electric vehicle (PHEV), extended-range electric vehicle (EREV), and battery electric vehicle (BEV). At this time, the 2011 Chevrolet Volt, shown in Fig. 1 below, is an example of an EREV and the 2011 Nissan Leaf is an example of a BEV that are in production. There are many other vehicles in all three categories that are being planned, announced as concepts, or announced as future production offerings.
Whether PHEV's, EREV's, and BEV's will be widely adopted by the general public depends to some extent on the ease with which vehicles can be recharged at home. Users should be able to procure a simple, inexpensive, and reliable device that can be self-installed in a home garage, and easily operated such that the vehicle can be recharged with minimal intervention by the user.
This research aims to develop such an automated recharging system for home recharging of PHEV's, EREV's and BEV's. The first year of work executed the design, analysis and prototype development of an automated home recharging system. And the second year, a three axis floor mounted mechanism was developed, and successful preliminary testing of the mechanism and RFID navigation system was detailed in the report.
However, the size of the floor mounted unit is too huge to commercialize. Aiming to develop a marketable product, a holonomic drive mobile platform was designed along with the RFID based navigation system and the line tracking technique to locate the charger plug directly under the receptacle on the vehicle. Using the same RFID navigation system with the floor mounted unit, two RFID antennas are installed to compensate the defect that the mobile unit cannot find the orientation of vehicle when there is only one RFID antenna. This report details the refinement, construction and successful preliminary testing of the mechanism and RFID navigation system. Additionally, this report includes the testing of the floor mounted system under various misalignment conditions (up to 10째 misaligned).

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