문형필 교수

Presents information on the IROS 2016 Competition.

Distributed manipulation systems induce motions on objects through the application of forces at many points of contact. Current forms of distributed manipulation include multiple mobile robots, vibrating plates, actively controlled arrays of air jets, and planar micro- and macro-mechanical arrays of actuators. The authors have presented a new form of distributed manipulation using passive airflow fields. This paper lays out infrastructure for manipulation algorithms using logarithmic potential f

In this study, a parasitic capacitance-free tactile sensor with a floating electrode that is capable of identifying actual physical contact pressure by distinguishing from parasitic effects and applicable to sensor arrays is presented. Although capacitive pressure sensors are known for their excellent pressure sensing capabilities in wide range with high sensitivity, they tend to suffer from a parasitic capacitance noise and unwanted proximity effects. Electromagnetic interference shielding was

In autonomous unloading systems, one of the major challenges is planning the unloading sequence in cluttered logistics container environments. Proper unloading sequence planning is crucial to avoid damage to the packages caused by collision and collapse. At the same time, the planned sequence has to minimize the effort during the unloading process, such as energy consumption, time taken, and distance moved, to enhance efficiency. This paper presents a sequence planning method based on the A-star

This paper proposes a design methodology for a six-wheeled rover that adapt to different stairs and maintain its stability based on the robot’s parameters, the kinematics constraints, the maximum height, and the minimum length of the step required to climb up and down. We also propose an emergency controller to prevent falls during the climb up or down using the contact angle measurement between wheel–ground by a laser scanner sensor on each side of the robot. Thus, the geometry terrain informat

Durability and multifunctionality are very important factors for human skinlike tactile sensors for measuring physical stimuli if they provide reasonable pressure measurement range and sensitivity. Here, we propose a step tactile sensor with a simple processing unit, showing high repeatability and mechanical stability without drifting caused by thermal and geometrical noise. The proposed sensor, similar to a switch mechanism, detects the applied pressure discretely and has a wide pressure range

Accurate dynamic model is critical for collaborative robots to achieve satisfactory performance in model-based control or other applications such as dynamic simulation and external torque estimation. Such dynamic models are frequently restricted to identifying important system parameters and compensating for nonlinear terms. Friction, as a primary nonlinear element in robotics, has a significant impact on model accuracy. In this paper, a reliable dynamic friction model, which incorporates the in

This work proposes an online task-scheduling method using mixed-integer programming for a multi-tasking problem regarding a dual-arm cooking robot in a controlled environment. Given each task’s processing time, their location in the working space, dependency, the required number of arms, and the kinematic constraints of the dual-arm robot, the proposed optimization algorithm can produce a feasible solution to scheduling the cooking order for each task and for each associated arms so that the tot

Many distributed manipulation systems are capable of generating planar force fields which act over the entire surface of an object to manipulate it to a stable equilibrium within the field. Passive air flow and other physical phenomena naturally generate force fields through the linear superposition of logarithmically varying radial potential fields. The main advantage of these fields is that they are realizable through very simple actuation. However, they do not lend themselves to analytical pr