KOREA UNIVERSITY OF TECHNOLOGY
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|The KUT BioRobotics Lab
Our research focuses on the interfaces between robots and biological systems,
and our mission is to develop science, technology, and human resources in this
Our recent interest is human-robot haptic interfaces. Haptic interfaces are
mechatronic (computer and mechanical) systems to allow human to feel and
physically manipulate virtual or remote environment. Our specific interest is
the design of haptic interfaces, improving the quality of haptic feedback, and
dealing with the effects of delayed network transmissions for enhancing the
realism of virtual and teleoperated environments.
Haptic interfaces has applications in many areas, including computer-assisted
and simulated surgery, autonomous exploration of hazardous or remote
environments, undersea salvage, enabling technologies, micro/nano manipulation,
education and design. Sponsors of our work include KRF, ADD and MOCIE.
The group is led by Professor Jee-Hwan Ryu of the School of Mechanical
Engineering at Korea University of Technology and Education.
Biologically Inspired Robots: Design and Control of
- HUMANOID ROBOTS "CREABO" and "ARES"
Humanoid robots "Creabo 1", "Creabo 2" and "Creabo 3" were designed in our
lab. Robots include servo motors, microprocessor control module, bluetooth
module, video camera, aluminum body, batteries and remote control system.
HUMANOID ROBOT "CREABO-2"
HUMANOID ROBOT "CREABO-2"
Mobile robots: TELEOPERATION
- In this research several interfaces for teleoperation
of a mobile robot are described and analyzed.
We consider teleoperation of a wheeled mobile robot when control commands
are given by human operator through a master device. Phantom Premium 1.5A
from SensAble Technologies, Inc. was used as a master device. We implemented
our control ideas to the Activmedia Pioneer 3-DX mobile robot.
Position-speed and position-position command strategies were used for mobile
robot teleoperation. In position-position strategy desired speed of a mobile
robot is defined by a master manipulator’s position. In position-speed
command strategy robot’s position is controlled by position of master
device. Hybrid command strategy, combining position-speed and
position-position strategy, is introduced.
First, unilateral teleoperation was studied. Experiments with
position-speed, position-position and hybrid command strategies were
Second, bilateral teleoperation of a mobile robot was studied using two
types of force feedback: force feedback related to obstacle range
information, and force feedback including information about the state of the
robot. For experiments with bilateral teleoperation different command
strategies were applied.
The role of vision feedback was verified also. For each type of human-robot
interaction interface advantages and disadvantages, and possible
applications were described.
Audio information was also introduced as one of the possible types of
feedback for teleoperation systems. Sound system was used to inform the
human-operator about the obstacle in front of the robot. Intensity of this
signal was increased while the robot was approaching to the obstacle. The
role of sound feedback is to give additional information about the remote
environment, so that the probability of collision will be decreased.
Research showed importance of different types of feedback information
according to the application area of the teleoperator system. Text feedback
is important for representing state information of the robot. Vision system
can provide complex information about the remote environment. Force feedback
can provide human with obstacle range information in order to prevent
collisions. Additional sound signals are important to give the user more
feeling about the state of the teleoperation system.
Control strategies were another objective of our research. Proposed hybrid
control strategy for mobile robot teleoperation showed better performance.
Human-operator could navigate the robot more easier, faster and carefully.
Mobile robots: BUILDING INSPECTION
- The continuous health monitoring of super large
buildings is very important for preventing disaster and maintenance.
However, most of the health monitoring method of these days are mainly
depending on visual inspection method with the naked eye, and restricted to
the areas where inspectors can access. Also it has many additional problems
since lots of dangerous works have been mostly done by human.
In this research, we have developed an ubiquitous robotic system for
autonomous health monitoring of super large buildings for solving above
The developed robotic system can climb a slanted wall with 45 deg, can be
remotely operated and have a wireless video transmission channel.
Main components are the following:
- onboard computer (Intel Pentium 933MHz);
- wireless communication card;
- microcontroller AT90CAN128;
- 4 DC motors, Maxon 60W;
- 4 motor drives (PI-control)
- 2 servo motors CX-28;
- USB Video Camera;
Medical Robots: SURGICAL ROBOT BILATERAL TELEOPERATION -
VIA INTERNET UNDER TIME DELAY
- This is a joint research project with BioRobotics
Laboratory at University of Washigton (UW). BioRobotics Lab at UW has
developed a robotic system "RAVEN" for minimally invasive surgery.
More information about RAVEN surgical system can be found at UW BioRobotics
The goal of this project is to perform stable bilateral teleoperation of
surgical robot. Human-operator (surgeon) is manipulating two haptic master
devices. Control signals are sent to surgical robot via Internet. UDP
communication protocol is used. Master devices are placed in Korea, while
robot is situated in USA.
RAVEN - Surgical Robot at UW BioRobotics Laboratory
Medical Robots: Micro Telerobot for Cell Manipulation
- Goal of this project is development of robotic system
for cell manipulation. It is a joint research project between BioRobotics
Laboratory and Center for Intelligent Systems of KUT.
Cell injection is very common task in modern bioengineering. Figure below
shows cell injection process. Deformation of the cell can be used for
estimating and generating force feedback, which is transmitted to the
operator via haptic device.
We are designing robotic system which is controlled by human via
manipulating master device. Position command is sent to control system of
micro robot which interacts with a cell. Cell deformation is estimated by
vision system with the help of image recognition algorithm. Force feedback
is applied to master device based on deformation. Application of force
feedback in such kind of system improves efficiency and productivity of cell
injection process. Phantom Premium is used as a haptic master device in our
Parallel kinematic structure is chosen. Microrobot has three active degrees
of freedom. Maxon DC motors with built-in gears and encoders are used.
Motors are controlled by Maxon drivers which are connected to NI Motion
Control PCI card. Below kinematics, mechanical structure and a real robot
- Micro robot to interact with a cell
- Parallel kinematic structure is chosen
- Maxon DC motors with built-in gears and
encoders are used
- Microrobot has three active degrees of
Vehicular Robotics: WIRELESS VISION SYSTEM FOR VEHICLE
- This project is carried out under the corporation
between our lab and Hyunbo company. Our main objective is to develop a
human-vehicle wireless vision interface.
Nowadays, vehicle navigation systems are widely used. Vision information can
be helpful to avoid the accident on the road in difficult and dangerous
Modern vehicle video camera systems based on wire communication which has
several disadvantages. It is difficult and uncomfortable to setup, configure
and fix such wire systems. These problems can be solved by applying wireless
communication technology. Wireless part is based on the UWB (ultra wide