교수진 및 연구실 소개SAIHST에는 기초의학, 임상의학, 자연과학, 약학, 공학, 경영대학 등 Health Science와 관련된 다양한 분야를 전공한 교수진이 참여하고 있습니다.
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| 연구실소개 |
Robotics Innovatory/최혁렬 교수 E-mail : choihyoukryeol@gmail.com Homepage : http://mecha.skku.ac.kr/ 참여학과 : 의료기기산업학과 인쇄하기 |
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■ Research objective
Being one of the leading laboratories of robotic researches in Korea, the Robotics Innovatory (Robotory) have developed various kinds of robots and hi-tech devices which are widely applicable not only in ambient daily life but also in several industrial fields. ■ Research interests 1)Quadruped Walking Robot for Outdoor Environments Despite rapid development in robotic technologies, living creatures are still superior to robots existing currently in various aspects. Thus, it is necessary to understand the principles underlying the motions and behaviors of biological subjects for the control of robots. Mimicking living creatures currently becomes one of the worldwide trends for robotic innovations. By studying on this, the locomotion of the walking robot can be close to that of the real animal. 2)Intelligent Autonomous Inpipe Robot The robotics automation in NonDestructive Testing(NDT) is a promising field of research and it helps to expand the applications of NDT enormously. Especially, in the case of pipelines which are widely used in various industrial facilities, it is required to secure adequate ways of inspection in the usual maintenance activities. We have developed robot systems for inpipe inspection of underground urban gas pipelines, MRINSPECT I, II, III, IV and V. 3)Capacitive 6-Axis Force/Torque(F/T) sensor A novel 6-axis force/torque (F/T) sensor enables measuring six orthogonal F/T components at a material point on the sensor’s surface. The sensing part of the sensor can be designed as a single printed circuit board and a ground plate, making it possible to build a lightweight 6-axis F/T sensor integrating all electronic components, with very simple manufacturing and assembly processes and at an extremely low cost. 4)Tactile and Proximity Sensor The tactile proximity sensor provides pressure and contact location information on the curved surface of the robot arm or end-effector in contact with the distance, depending on the object. This sensor is divided into electrodes and a dielectric layer. The electrodes measure inductance using two coplanar electrodes. Also, it can be attached to the curved surface through the FPCB(Flexible Printed Circuit Board). The dielectric layer can be deformed even on curved surfaces, which makes it easy to attach. CMC (carbon microcoils) elastic dielectrics maximize sensing information and protect exposed electrodes. 5)S-CLOUD : Cloud-Like Controllable Soft Drone A new drone, called S-CLOUD, developed for safe and high flight efficiency. It can produce 3-axis transitional motion and hovering for more longer time than usual multi copters. S-CLOUD is a tandem type blimp with thin PET skin. The twin rotor control mechanism mounted on each side consists of omnidirectional movement frame for stabilization and movement. Through this study, we can make smaller size than predeveloped spherical or airship type blimp keeping fly ability like multi copters’ motion. S-CLOUD is safe for flying near people because it does not give any damage to human by crush. The system is built, and its effectiveness is experimentally validated 6)Soft Robot While traditional actuation methods such as electric motors or hydraulic/pneumatic actuators possess high performances such as large power, high precision and accuracy, they also exhibit some disadvantages such as heavy weight, high friction, large volumes, etc., which make them inappropriate for some specific applications. Recently, the introduction of a new class of actuators has drawn the attention in robotic research due to their interesting properties. The super-coiled polymer (SCP) actuators made from low-cost materials were shown to provide large stroke, high load-carrying capabilities and especially a high work density which exceeds the peak of the mammalian skeletal. Considering the potential of the Spandex-nylon SCP actuator, we are in process of developing a robot arm that is antagonistically driven by a pair of Spandex-nylon agonist and antagonist. 7)Manipulator for Nuclear Decommissioning Nuclear decommissioning is the process whereby a nuclear facility is dismantled to the point that it no longer requires measures for radiation protection. The decommissioning tasks require work in the environments hostile to humans. Hence, remote operations and robotic systems are essential to this issue. One approach for addressing decommissioning operation is to develop mobile robots having dual manipulator. Our research focuses on developing heavy payload redundant(7-DoF) dual manipulator. ■Contact choihyoukryeol@gmail.com |