– Foxtail Robot
In the field of the robotics, enhancing mobility and stability of mobile robots is one of key research area. Especially, increasing mobility in random terrain, such as narrow space and uneven-structure, is important issue because of its various applications in many industrial fields. Thus general research goal of our lab is the development of new mechanical designs which is applicable for diverse terrain structure.
– Enhance mobility of mobile robots
– Achieve high stability of mobile robot platform
– Robust control with good energy efficiency
To achieve a proper purpose of robot platform, it is important not only to design a suitable hardware system, but also to design a sensor system. Because if robot system has a poor or unsuitable sensor system, then hardware cannot work as we expect. So we develop a whole new sensor system or combine existing sensor systems, to make more precise and suitable sensor system.
– Dynamics based Sensor System
– Non-contact Odometry Sensor System
– Other Sensor Systems
– Stabilizing robot with fast response to the measured motion
– Enlarging applicable area of mobile robots
Bio-inspired robotics is about learning from nature and applying it to the real engineering systems. Bio-inspired robotics is about studying biological systems, and look for the mechanisms that may solve a problem in the engineering field. So we make a mechanism and robot that are simpler and more effective than the system observed in nature.
Example of Bio-inspired Robot
– Other living things
Design target- Apply a mechanism observed in nature
– Simplify a mechanism observed in nature to apply to robot
Holography is technique that records, reconstructs and displays 3-dimensional information using interference of lasers. Holography is one of the most promising technology for various scholarship and industries.
– Holographic Data Storage System (HDSS)
* Page-based HDSS
* Bit-based HDSS
– Holographic Security Identification System
– Holographic 3D Sensor
MICRO SERVO CONTROL
Micro servo control is technology for precisely driving actuators to acquire required performance in micro and nano scale regions. Representative fields requiring micro servo control are data storage systems (HDD, HDSS, etc.), vibration control system and others. In our lab, researches for improving performance of actuator by designing many types of controller have been processed.
Example of Servo Control
– Classic Control (PID Control, Lead-Lag Control, etc.)
– Modern Control (LQG Control, Robust Control, etc.)
– Intelligent Control (Fuzzy Control, Neural Control, etc.)
– Disturbance Observer
VISION SYSTEM & SIGNAL PROCESSING
Our lab develops and researches vision system using camera and optics. Vision system detects target object or environment data from reading image data with cameras. With developed vision system, target object could be detected more accurately than other sensor systems.
– Stereo Vision System
– Holographic 3D Sensor
– Dual Sensing Method
– Other Vision Sensors
Images that are acquired by sensor system using camera should be processed to use in other system that requires precise measurement. Analyzing and processing image data is important because raw data could make malfunction in real system. In our lab, we process the image data and apply the processed image data to other system. With our signal processing technique, performance of sensor and vision system is enhanced.