Research

Mechatronics System Design & Control

Variable radius pulley

  • Applicable for tendon-driven robotic joint

  • Variable torque mechanism

Robotic joint with Twisted string actuator

  • Robotic joint with dual Twisted-string actuators

  • Zero impedance control & Position control using Time Delay Controller

Series elastic actuator with rubber based elastic element

  • Compact and embedded encoder

  • Rubber modeling with Bouc-wen model

  • Zero-impedance control with rubber-based SEA

  • Gravity compensation control with rubber-based SEA

Robot Manipulator

Valve rotating robot manipulator

  • 7-axis robot manipulator (with one redundancy)

  • Inverse kinematics (Closed form)

Participate in R-BIZ Challenge(2019)

  • 6-axis robot manipulator

  • ZERO Robot

Mobile Robot

Climbing Robot

  • Climbing robot