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Bio-inspired robot design for hyper-dynamic robotics
1. 제 목: Bio-inspired robot design for hyper-dynamic robotics
2. 연 사 : Prof. Sangbae Kim
(Mechanical Engineering, Massachusetts Institute of Technology)
3. 일 시 : 2009년 6월 2일 (화) 11:00 ~ 12:00
4. 장 소 : 신공학관(301동) 305호
5. 내 용 : Mobile robot designers are increasingly searching for inspiration and design cues from biological models. Biomechanical studies on the animal locomotion provide essential design principles implemented to the bio-inspired robot design, resulting in more efficient and stable performance. However, understanding the difference between biological systems and mechanical system will also play an essential role in developing successful robotic platforms.
The design process includes simplification of biological inspiration, abstraction of fundamental principles, engineering verification, and prototyping of bio-inspired robots. Introduction of three bio-inspired robots exemplify the process: iSprawl, a cockroach-inspired hexapod with compliant, under-actuated legs, runs at 15 body-lengths per second. Spinybot, a hexapod that uses its toes with microspines to climb rough surfaces, including stucco, concrete and brick walls. Stickybot, a gecko-inspired quadruped that climbs smooth vertical surfaces using directional dry adhesion. At the smallest length scale, the undersides of the toes are covered with a unique material called directional polymeric stalks, inspired by the directional setae and lamellae of the gecko.
The future direction of the research includes the implementation of the design process to the hyper-dynamic robotics. Hyper-dynamic robotics entails the morphological design and the control optimization for the maximum performance of the legged robotic platforms. Agile mobility of the robotic platform requires capabilities such as high acceleration, dynamic balance, jumping over large obstacles and landing with the flexible body articulation. These capabilities involve multi-body dynamics of the dynamic control with tunable compliance made by polymeric multi-material manufacturing process.
6. 약 력 :
- Massachusetts Institute of Technology (2009.5 ~): Assistant professor in Mechanical Engineering department
- Harvard University, MA, USA: Post-doctorate fellow at Micro-robotics lab
- Stanford University, CA, USA: Doctorate, Department of Mechanical Engineering (Thesis: Bio-inspired robot design with compliant underactuated system)
- Stanford University, CA, USA: Master of Science, Department of Mechanical Engineering
- Yonsei University, Seoul, Korea: Bachelor of Science, Mechanical Engineering
7. 문 의 : 기계항공공학부 김 종 원 교수 (☏ 880-7138)
2. 연 사 : Prof. Sangbae Kim
(Mechanical Engineering, Massachusetts Institute of Technology)
3. 일 시 : 2009년 6월 2일 (화) 11:00 ~ 12:00
4. 장 소 : 신공학관(301동) 305호
5. 내 용 : Mobile robot designers are increasingly searching for inspiration and design cues from biological models. Biomechanical studies on the animal locomotion provide essential design principles implemented to the bio-inspired robot design, resulting in more efficient and stable performance. However, understanding the difference between biological systems and mechanical system will also play an essential role in developing successful robotic platforms.
The design process includes simplification of biological inspiration, abstraction of fundamental principles, engineering verification, and prototyping of bio-inspired robots. Introduction of three bio-inspired robots exemplify the process: iSprawl, a cockroach-inspired hexapod with compliant, under-actuated legs, runs at 15 body-lengths per second. Spinybot, a hexapod that uses its toes with microspines to climb rough surfaces, including stucco, concrete and brick walls. Stickybot, a gecko-inspired quadruped that climbs smooth vertical surfaces using directional dry adhesion. At the smallest length scale, the undersides of the toes are covered with a unique material called directional polymeric stalks, inspired by the directional setae and lamellae of the gecko.
The future direction of the research includes the implementation of the design process to the hyper-dynamic robotics. Hyper-dynamic robotics entails the morphological design and the control optimization for the maximum performance of the legged robotic platforms. Agile mobility of the robotic platform requires capabilities such as high acceleration, dynamic balance, jumping over large obstacles and landing with the flexible body articulation. These capabilities involve multi-body dynamics of the dynamic control with tunable compliance made by polymeric multi-material manufacturing process.
6. 약 력 :
- Massachusetts Institute of Technology (2009.5 ~): Assistant professor in Mechanical Engineering department
- Harvard University, MA, USA: Post-doctorate fellow at Micro-robotics lab
- Stanford University, CA, USA: Doctorate, Department of Mechanical Engineering (Thesis: Bio-inspired robot design with compliant underactuated system)
- Stanford University, CA, USA: Master of Science, Department of Mechanical Engineering
- Yonsei University, Seoul, Korea: Bachelor of Science, Mechanical Engineering
7. 문 의 : 기계항공공학부 김 종 원 교수 (☏ 880-7138)