Research

Research Interests:

  • Continuum parallel robots

  • Kinematics , dynamics and screw algebra

  • Mechanism theory and development

  • Reconfigurable mechanisms and robots

  • Manipulation theory and multi fingered hands

  • Rehabilitation and medical robotics

  • Robotized packaging and industrial robotic

  • Physical based animation and machine learning

2RPS -RPRS manipulator

3-RRS manipulator

Optimal improved performance.mp4

Original configuration

Optimized configuration

A new method to detect and identify the parasitic motion based on the screw -based constraint policy embedment technique.

Publication: Analysis of parasitic motion with the constraint embedded Jacobian for a 3-PRS parallel manipulator

Modular robot (Video)

IMG_3998.MOV

Modular robot (Video)

3PRS PKM (Sprint Z3)

Parallel kinematic machines ( 3PRS and 3RPS)

IMG_4049.MOV

Modular robot (Video)

Minimal actuation driven dual axis sun tracker

Projects : Kinematics of PMs

Kinematics and dynamics

    • Serial robots

      • UR10 kinematics

    • Parallel robots

      • Sprint Z3

      • A3 Head

    • Mobile robots

      • Modular robot

Control

Physics based animation

    • Rope simulation

    • Snake simulation

    • Cloth simulation

    • Bouncing ball


Machine learning

    • Korean alphabet recognition

Human computer interfacing