Ongoing
(2024-2026) General framework for preserving passivity of deep neural network model (funded by AFOSR)
(2025-2028) Robust, Stable, and Safe Robotic Learning using Dissipative Neural Networks (as PI, funded by NRF)
Bionic arm project (2014-2020)
Fabrication, modeling, and control of twisted-coiled polymer actuators (TCAs).
Fabrication of digital force tactile and elongation sensors.
Development of soft robot hands actuated by TCAs.
Social robot project (2017-2022)
Task planning of dual-arm robots for daily tasks such as pouring water, handling cups for humans, making coffee, etc.
Developing motion controllers for dual-arm robots using CAN Elmo and EtherCAT Elmo drivers.
Unloading project (2020-2022)
Robot calibration
Camera calibration
BRL project (2020-2025)
Modeling and control of linear and rotary pneumatic actuators
Autonomous Driving (2023)
3D lidar-based object detection
Path planning