Hanyang University · Engineering
Professor TaeWon Seo's research lab specializes in the design and control of advanced mobile robots, with a focus on climbing robots, service robots, and underwater robots. The lab develops innovative mechanisms such as underactuated modular systems, compliant joints, and active tail actuators to enable high-speed, high-payload climbing and complex transitions on diverse surfaces. Key research directions include biomimetic locomotion, adaptive control strategies like switching PD-based sliding mode control, and the integration of novel adhesion technologies such as dry elastomer adhesives. The lab also explores applications in hazardous environments and indoor service robotics, aiming to overcome mobility limitations like stair climbing and wall-to-wall transitions.
Figures are computed from collected data and may differ slightly.
This paper proposes an underactuated modular climbing robot with flat dry elastomer adhesives. This robot is designed to achieve high speed, high payload, and dexterous motions that are typical drawbacks of previous climbing robots. Each module is designed as a tread-wheeled mechanism to simultaneously realize high speed and high adhesive force. Two modules are connected by compliant joints, which induce a positive preload on the front wheels resulting in stable climbing and high payload capacit
Climbing robots have been widely applied in many industries involving hard to access, dangerous, or hazardous environments to replace human workers. Climbing speed, payload capacity, the ability to overcome obstacles, and wall‐to‐wall transitioning are significant characteristics of climbing robots. Here, multilinked track wheel‐type climbing robots are proposed to enhance these characteristics. The robots have been developed for five years in collaboration with three universities: Seoul Nationa
Indoor service robots have been widely introduced in the fields of cleaning, delivery, education, guidance, and healthcare, etc. in indoor environments. The mobility of an indoor service robot is essential to expanding its applications. However, the mobility of existing indoor service robots is highly limited by surrounding indoor environments. For example, a stair is one of the major obstacles that restrict the reachable areas of indoor service robots. Even though many studies have been perform
This paper presents a switching PD-based sliding mode control (PD-SMC) method for the 6-degree-of-freedom (DOF) hovering motion of the underwater robot with tilting thrusters. Four thrusters of robot can be tilted simultaneously in the horizontal and vertical directions, and the 6-DOF motion is achieved by switching between two thruster configurations. Therefore, the tilting speed of thruster becomes the most essential parameter to determine the stability of hovering motion. Even though the prev
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