Computer  Aided  Mechanical  dynAmic  System  Laboratory



Our research interests are in the field of dynamic system design, analysis, and control with special emphasis on mechatronic and robotic

applications. The design and control of multi-energy domain coupled mechatronic systems is different from the conventional

dynamic systems from the various points of view since their functionalities are significantly affected by the highly coupled energy transport.

Our research for the coupled multi-energy domain physical systems and our challenge for the development of

a unified modeling and control provide graduate students with deep information and insight on mechatronic dynamic systems.

Our attempts will build up a platform leading the modern robotic technology.



Robotic Mechanism Design & Control

Cleanroom operation robot manipulator design and control for semiconductor wafer transportation

Pneumatic dexterous gripper design and control for soft object manipulation

Pneumatic rotary actuator design, analysis, and control

Design and analysis of serial elastic actuators and variable stiffness actuators

Hydraulic robot manipulator design and impedance/compliance control for human guided robotic operation

Pneumatic 3-dof actuator for leg mechanism design and control



Human Robot Interactions

Modeling and identification of inferences about human task intent and proactive action on the part of the robotic actuation

Force control with learning from demonstration

Co-manipulation in multi-robot system



Robot-based Industrial Assembly Process Automation

Grinding Technologies with Impedance control

Assembly automation with VSM mechanism and control