“We explore intelligent control technologies for interactive and autonomous robotics."
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Welcome to iCIR Laboratory.
Welcome to intelligent Control & Interactive Robotics Laboratory (iCIR Lab) in the Department of Mechatronics Engineering at Chungnam National University. Our research focuses on intelligent control, with applications in robotics and mechatronic systems such as mobile manipulators, robot arms, and vibration-critical systems including mobile robots and magnetic levitation platforms. We are particularly interested in optimal control for redundant systems, model- and AI-based system identification, interaction control (including force and impedance control), and AI-based control strategies. With these core technologies, our goal is to realize physical human–robot interaction (pHRI) and enable advanced interactive robotic control and manipulation.
충남대학교 메카트로닉스공학과 지능제어 및 로보틱스 연구실 방문을 환영합니다. 본 연구실은 지능형 제어 기술을 로보틱스 및 메카트로닉스 시스템에 적용하는 데 중점을 두고 있습니다. 주요 연구 대상은 모바일 매니퓰레이터, 로봇 팔, 그리고 모바일 로봇 및 자기부상 시스템과 같이 진동 성능이 중요한 시스템이 포함됩니다. 특히, 과구동 시스템(redundant systems)에 대한 최적 제어, 모델 및 AI 기반 시스템 분석, 힘 및 임피던스 제어를 포함한 상호작용 제어(interaction control), AI 기반 제어 전략 분야 등에 관심을 가지고 있습니다. 이러한 핵심 기술들을 바탕으로, 본 연구실은 물리적 인간-로봇 상호작용(pHRI) 및 인터랙티브 로봇 제어 및 조작 기술(interactive robotic control and manipulation)의 구현을 목표로 하고 있습니다.
Research Interests
pHRI (physical Human-Robot Interaction)
pHRI (physical Human-Robot Interaction)
for human-robot collaborative transportation and assemble task with mobile manipulator
AI-based System Identification
AI-based System Identification
aimed at handling highly nonlinear uncertainties through data-driven methods (such as SINDy) or AI-based methods (such as PINN).
Robot Manipulation
Robot Manipulation
integrating motion planning, control, and AI-based recognition technologies
Mobile Manipulation
Mobile Manipulation
with whole-body control, AI-based recognition and system integration
Fault Tolerant Control
Fault Tolerant Control
with online fault diagnosis, leveraging optimal input design that considers multi-priority strategies
Vibration Control
Vibration Control
based on system modeling, control, and signal processing, demonstrated on mobile robots and magnetic levitation systems
Explore More Experimental Videos of iCIR Lab: Click Here!
News
2025.09.01
The intelligent Control & Interactive Robotics Lab has been launched.
지능제어 및 로보틱스 연구실이 개설되었습니다.
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