Robotic Arm
1. Robotic arm control based on 'Virtual Spring-Damper Hypothesis' (2004 ~ )
(originated by Prof. S. Arimoto and Prof. M. Sekimoto)
- Dual 6DOFs robotic arm supported by Mr. J.-S. Cho at PIRO. (Sep. 2007)
- Cranking by 7DOFs robotic arm supported by Mr. S.-Y. Yi at KIST (Sept. 2008)
2. 'Muscle Tension Effect' with 'Virtual Spring-Damper Hypothesis' (2008 ~ )
- 7DOFs robotic arm based on 'Virtual spring-damper Hypothesis' with Dr.Oh at KIST. (Feb. 2009)
- 8DOFs robotic arm supported by Mr. S.-W. Park at RC2L, KITECH (Oct. 2010)
- Compliant and restorative motion VSD and MTE supported by Mr. S.-W. Park at RC2L, KITECH (April 2011)
3. Robotic Manipulation : Peg-in-Hole Assembly (2012 ~ )
- Visual Guided Peg-in-Hole Assembly supported by Mr. H.-J. Park at RC2L, KITECH (Sep. 2014)
( This robot is assembling under the environment including lots of uncertainties without force feedback !!!
We did peg-in-hole assembly of clearance 0.05mm using visual feedback of maximum error range 20mm.)