- 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
Whole-Body Control Framework for Humanoid Robot

Climbing a ladder using whole-body control framework
Since humanoid robot has many degree of freedom(DOF) and many branches like arms and legs so in most cases humanoid robot is under-actuation. Consequently a general control methodology that integrates various whole body behaviors into a single dynamically compensated control structure.

Whole-body control framework has some characteristics such as
- Control robot with under-actuation
- Torque control with calculating inverse dynamics
- Control robot with multi-contact state.
- Can control multi-tasks
- Floating base control is possible with concept of virtual joints
- Compliant control with torque control

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