Research

 Research Areas
 Control in Robotics
  • Biped Robot
    • Simulation 1 (319 KB): A biped robot walks even when it is pushed behind by an external force.
    • Simulation 2 (317 KB): A biped robot walks on a floor with slants.
    • Simulation 3 (417 KB): A biped robot walks on a floor with a bump.
    • Simulation 4 (772 KB): A 12-DOF biped robot walks on a floor.

  • Bio-Robots, Bio-Systems Control

  • Teleoperation
    • Experiment (2.844 MB): Operation of a single degree-of-freedom master-slave bilateral teleoperation system with force-feedback, connected though the Internet which introduces a time-dependent delay.

  • Visual Servoing
    • Experiment 1 (2.7 MB): Controlling the trajectory of a ball on a slippery plate held by a robot using a vision system.
    • Experiment 2 (2.6 MB): Controlling the trajectory of a ball on a plate with high friction held by a robot using a vision system.
  • Mobile Robots

  • Manipulator Control

  • Parallel-Link Manipulators
  • Impedance Control
  • Misc Mechatronics

 
 Precision Control
  • Stick-Slip Friction in Servos
  • Sliding-Mode Control of Servos
  • Time-Delay Control
  • Applications: Microsystems, FAB Equipment (photo of a prototype aligner), etc.
 
 Vehicle Dynamics & Control
  • Traction Control
  • Yaw-Rate Control
  • Brake Control
  • Suspension Control
 Main Projects
  • Development of A New Biped Humanoid Robot and A Dynamic Simulator for Clinic Usage (Joint Research with Waseda Univ., Japan)
  • Force Control to Enhance Flexibility of Industrial Robots
  • Development of Controller and Software for Tredmills
  • Robust Control of Servos for Industrial Robots
  • Motion Control of Micro Endoscopic Modules (Joint Research with SSSA, Italy)
  • Control of A Force-Reflecting Teleoperation System Using VR
  • Development of New Control Algorithms for ABS
  • Development of Biped Robot Controllers (Joint Research with Waseda Univ., Japan)
  • Development of Wafer Aligners with Friction Compensation Capability
  • Servo Control Using CVTs
  • Development of Traction Control Systems Using ABS
  • Servo Control under Influence of Sealings
  • Control of Stick-Slip Friction
  • Development of Evaluation Models for Manufacturing and Inspections of Hitech Electronic Products
  • Precision Servo Control Using Sensors (Joint Research)
  • Development of Wafer Aligners

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