Robotics@SNU

Research
- Design and Development of
   FLEA

- Omegabot: Inchworm inspired
   robot

- Large deformable morphing
   structure:Flytrap-inspired
   robot

- 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
   navigation

- 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
   Reduction

- Probabilistic Optimal Planning
   Algorithm for Minimum
   upstream Motions

- Automated Plug-In Recharging
   System for Hybrid Electric
   Vehicle
Walking Pattern Generation for Humanoid Robot

Trajectory of center of mass of the robot
Generation of walking pattern for humanoid robot is one of the most challenging issue for humanoid robot research. For stable walk of humanoid robot we have to consider dynamics of the robot. In most cases to check the stability of the robot concept of zero moment point is usnig. Since dynamics of robots' whole body is too complicated many uses linear inverted pendulum model.

In our Lab. to over come the limitation of linear inverted pendulum model, we consider whole body dynamics of the robot. For a long term research, our goal is generate natural walking motion like human.

For more information, visit the lab webpage.

jhp9395@robotics.snu.ac.kr, 02-880-7149