Research Area
Dynamics and control group develop mechanical systems such as automobiles and robots and perform dynamic analysis and develop control algorithms to create new mechanical systems with creative and superior performance.
Our research activities focus on robot manipulation, motion optimization, control, learning and design. The unifying thread in our approach is the use of geometric methods, particularly concepts and tools from differential geometry and Lie groups. Our current research is focused on real-time algorithms for optimal trajectory generation, sampling-based methods for motion planning subject to constraints, and the leveraging of machine learning techniques for robot motion learning.
We will open lectures such as dynamics, creative engineering design, and robot technology commercialization(for graduate) so that we can cultivate the foundation of engineering and build various experiences ranging from robot design and production, problem solving and start-up.
Acoustics and vibration laboratory is conducting research related to vibration and acoustic engineering. By reflecting these concepts in education, classes such as dynamics, mechanical vibration, introduction to sound system engineering, and engineering acoustics (graduate school) are opened.
The research at INRoL is broadly defined on the principles of mechanics and control as applied to robotic and mechatronic systems, encompassing from their design, modeling, simulation and estimation, to their control and user study. The thrust application areas include; 1) aerial operation/manipulation; 2) haptics/VR; 3) autonomous flying/mobility; 4) telerobotics; 5) soft/tendon robots; and 6) industrial control applications.
Our research goal is to analyze the mechanisms and dynamics of biological systems and transform them into robotic/mechatronic systems for human life. We are interested in bio-inspired design of soft robots and development of novel manufacturing methods for soft smart structures. We envisions our research being a foundation to establish a design and manufacturing methodology for soft robots by implementing biological sensing and actuation mechanisms.
We conducts various research on 3D modeling, object recognition and tracking, real-time 3D sensing, and sensor fusion to apply computer vision and machine learning technologies to robots and autonomous devices, with a focus on Visual SLAM, large-scale 3D modeling, and visual tracking.
Our group focuses on perceptual simultaneous localization and mapping (SLAM). Main research interest and detailed robotics topics include perception-based environment mapping, intelligent sensor fusion, decision making and control of the robotic agents, robotic operation, and navigation in GPS-denied environments (e.g., underwater, urban, and indoor environments).
Our research in the Transformative Architecture Laboratory is directed towards designing and developing advanced architected systems for various engineering applications, ranging from aerospace structures, biomedical devices, robotics, to energy and environments. Such advanced architecture will allow us to manipulate their mechanical properties and dynamic responses at will, which will lead to a paradigm shift in material and structural design.
Healthcare Robotics Lab develops various actuators, sensors, and mechanisms that can be applicable to the medical field. The lab currently focuses on surgical robotic systems that can safely and accurately interact with a human body, haptic devices that deliver touch sensation during teleoperated medical procedures, and implantable devices that assist, treat, or monitor organs.
In this laboratory, our focus lies in implementing distinctive solid properties like negative density or negative stiffness using artificial structures, referred to as metastructures, and applying them across diverse engineering domains. To accomplish this goal, we conduct research on microstructure design, various multiphysics analyses, and experimental validation.
