- 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
Quadruped Robot Control with Whole-Body Control Framework
Quadruped robots have better mobility than other legged robot such as biped robots, especially on uneven terrain. However, controlling quadruped robots based on kinematics is too difficult to recognize obstacles or rough surfaces without sensors. To overcome this problem, robot control should be compliant.

In our Lab, whole-body control framework is adopted for the compliant control. Using whole-body control framework, we can accomplish compliant control with torque control, control on multi-contact state, and floating base control with virtual joints.

We also focus on the reaction force control. Because of reaction forces, it is too difficult for quadruped robots to maintain stable posture when walking. To compensate for reaction forces, appropriate force distribution is required.

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