ROBOTS

LUCIO

The winner of RoboCup @HOME Open Platform League 2023 Bordeaux France
Mobile, autonomous robot for interacting with humans in a home by helping with everyday tasks
Our home service robot is equipped with omnidirectional wheels for holonomic movement, allowing it to navigate complex environments smoothly. Using a LiDAR sensor mounted on its base, the robot performs SLAM-based autonomous navigation, providing reliable and efficient mobility throughout the home.
The robot features a 7-DOF manipulator, enabling it to perform natural manipulation in complex environments, such as household tasks. At the end of the manipulator, an RGB-D sensor captures environmental data, enabling precise object recognition and stable grasping motions.
An integrated HRI module facilitates seamless interaction with users, creating a natural and intuitive communication experience. For on-board computation, the robot is powered by a compact NUC processor capable of handling high-volume real-time processing. Additionally, a built-in Jetson module supports embedded AI applications, allowing for local model inference without internet connectivity, ensuring stable and reliable operation.

ANUBIS is a robotic system consisting of master and slave components.
Each arm is equipped with an RGB-D sensor for imitation learning, a feature currently under development.
Designed for easy attachment and detachment, ANUBIS allows for quick setup and flexible reconfiguration.
Due to differing kinematic structures between the master and slave, the system maps the master's end-effector positions to the slave's by solving inverse kinematics in real-time. This enables accurate replication of movements, facilitating precise control and coordination between the master and slave units.

The winner of 2023 Space Exploration·Mining Robot Challenge Korea
Our Mobile Utility Lunar Excavator is designed to navigate rough, uneven terrains such as the Moon's surface. It features a differential bogie suspension system, allowing it to move smoothly over challenging landscapes. Using data from an IMU sensor attached at its base, the robot autonomously adjusts its orientation, ensuring stable and efficient traversal.
The robot's left and right driving modules are jointly connected via a differential, enhancing maneuverability and enabling smooth motion. Each of the four wheels is fully actuated with individual motors, while the differential is passively controlled for optimal performance.
Equipped with a 4-DOF manipulator, the excavator performs manipulation tasks suitable for space environments. A magnetic sensor and an RGB-D sensor with mineral-finding algorithms are integrated for resource excavation, enabling precise detection and extraction of valuable materials.
A novel 3D-printed gripper is designed to operate effectively in sandy environments, boasting innovative features for reliable performance. Additionally, a vision module mounted behind the robot provides precise observation of the surrounding environment.

2nd Place at 2023 BAEMIN Robot Delivery Challenge
Our delivery service robot is designed to maintain balance in adverse geographical conditions, preventing contents from being spilled during transportation. It features a four-wheel active leg balancing system that reads IMU data from a sensor attached at the center of the base to adjust and maintain stability.
The robot can step over small, unabridged obstacles, enhancing its ability to navigate complex terrains. It generates a 2.5-dimensional obstacle map using depth data obtained from a frontal RGB-D module, allowing it to effectively detect and avoid obstacles.
When encountering obstacles, the robot utilizes a skidding mechanism to rotate and maneuver around them. It is powered by six QDD motors, providing robust and reliable drive capabilities.
For optimal traction and maneuverability, the robot uses low-friction rubber wheels on the frontal driving parts to facilitate skidding, and omnidirectional wheels on the rear parts to passively react to the driving surface.

Our educational robot is designed for teaching in schools using interactive actions and dynamic dancing motions. It features two arms that can replicate human upper body movements, allowing it to perform gestures and demonstrations that enhance learning experiences. The robot facilitates human-robot interaction through an expressive face, making it engaging and relatable for students.
Dynamic dancing motions are generated using VR trackers (VIVE), enabling the robot to perform complex routines that capture students' attention. A graphical user interface on the front of the robot's body allows for friendly and obstacle-free interaction, making it easy for educators and students to communicate with the robot.
This robot serves as a versatile educational tool, capable of bringing lessons to life through physical movement and interactive performances, thereby enriching the classroom environment.

The Jongho Friend Robot-mini is an educational robot designed for teaching in schools using interactive actions and dancing motions.
JF-mini features a 4-DOF (Degrees of Freedom) arm that can replicate human upper body movements.
JF-mini utilizes a three omniwheels locomotion system, allowing it to move smoothly in any direction. This mini version offers a compact and accessible platform for engaging students in interactive learning experiences.

PNU Adaptive Dynamic Walking Quadruped is a four-legged robot designed with 3D-printed parts and commercial off-the-shelf components, making it both customizable and cost-effective. It features torque-controlled quasi-direct drive joints with a 1kHz control bandwidth, allowing for precise and responsive movements essential for dynamic walking and adaptation to various terrains.

Service robot with modular cargo spaces is a general-purpose mobile manipulation robot designed for autonomous indoor service tasks.
SRMCS features four Mecanum wheels, allowing for omnidirectional movement and efficient navigation in confined spaces.
With a compact body size of 542 x 402 mm and a weight of 25 kg, the robot has a small footprint ideal for indoor environments. The modular cargo spaces enable it to carry various payloads, making it versatile for different service applications.

BK is a versatile robot equipped with Mecanum wheels, enabling omnidirectional movement and smooth navigation in complex environments. It features a 4-DOF arm capable of performing various manipulation tasks with precision. For autonomous driving, a LiDAR sensor is attached, providing accurate mapping and obstacle detection.
The robot utilizes passive gravity compensation through mechanical springs, reducing the load on its actuators and enhancing energy efficiency.
An RGB-D sensor mounted at the top of its head allows BK to perceive humans and interact effectively with its surroundings. Additionally, the robot's head height can be linearly adjusted, ensuring the proper height for different tasks and improving operational versatility.

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