A5022292056- Robotic Locomotion and Control
- Soft Robotics and Applications
- Modular Robots and Swarm Intelligence
- Advanced Materials and Mechanics
- Advanced Sensor and Energy Harvesting Materials
- Neuroscience and Neural Engineering
- Robotic Path Planning Algorithms
- Muscle activation and electromyography studies
- Prosthetics and Rehabilitation Robotics
- Control and Dynamics of Mobile Robots
Seoul National University
2019-2023
In this paper, we present a milliscale-integrated jumping-crawling robot that can adjust its launch trajectory and upright itself. This multimodal shows an enhanced performance of overcoming obstacles compared with single locomotion mode. To make possible, the uses newly developed jumping module improved energy storing capacity height-adjustable active clutch. The utilizes both linear springs torsional to maximize energy-storing under given limit structural robustness. quantity stored...
A small-scale jumping–crawling robot expands the accessible region of a by selectively performing suitable locomotion type. However, parallel elastic actuation for jumping, which amplifies lightweight actuator's limited power, couples motion between energy storing process and crouching jumping linkage. This coupling hinders quick transition from to crawling limits height control. Furthermore, these two defects degrade agility energy-efficiency robot. In this article, we present with enhanced...
The practical operation of wearable robots requires intuitive, compact, yet reliable control interfaces. However, current myoelectric interfaces based on surface electromyography (EMG) often fail to achieve these requirements by demanding multiple sensors and exhibiting unreliable performance under limb posture changes. In this study, we show that a interface the musculotendinous junctions (MTJs) flexor digitorum superficialis (FDS) enables robotic glove with single EMG sensor identifying...
The ability to grasp objects broadens the application range of unmanned aerial vehicles (UAVs) by allowing interactions with environment. difficulty in performing a midair is high probability impact between UAV's foot and target. For successful grasp, must smoothly absorb energy simultaneously engage target short period time. We present bioinspired passive dynamic which claws are actuated solely energy. Our gripper resolves issue smooth absorption fast closure linking motion an ankle linkage...
The CaseCrawler is a lightweight and low-profile movable platform with high payload capacity; it capable of crawling around carrying smartphone. body the robot resembles phone case but has legs stored in its back. It designed deployable, in-plane transmission that locomotion. CaseCrawler's leg structure knee joint can passively bend only one direction; this allows to sustain load other direction. This anisotropic crank slider be used as main for generating motion; generates motion within 2D...