Past Results
Step-overcoming mechanism
Shape morphing wheel mechanism
- Underactuated mechanism
- Energy conversion
- Compliant mechanism
Variable Topology Truss Robot
Node design for reconfigruation
- Spheical chain actuator
- Topology reconfiguration
Facade cleaning module
Cleaning module design for obstacle-overcoming
- Linkage based design
- Kinematics analysis
- Comparative study based on dynamic simulation
Curved spoke tri-wheel
Stair-climbing with tri-wheel mechanism
- Optimal design of the shape
- Stopper mechanism
- Fast and reliable stair-climbing
VTT
Optimized locomotion
- Locomotion of VTT robot
- Constrained optimization problem
- Topology reconfiguration
AnyClimb-II
Dry-adhesive linkage-type climbing robot
- Four-bar linkage walking and adapating mechanism
- Climbing on uneven surfaces
- High obstacle overcoming
Hexphere steering
Amphibious water- and ground-running
- Tail steering analysis and experiment
- Klan mechanism for tripod gait
- Pitch control by the tail
Gravity-compensated Manipulator
Light-weight gravity compensated manipulator
- Wire-driven gravity compensation
- Four-DOF
- Increase reliability by winding mechanism
Steering of VelociRoACHs
High-rate controlled turning with a pair of miniature legged robots
- Steering with two VelociRoACH
- Complaint joint in between the robots
- Cooperative steering method
Angle transmission mechanism
Angle transmission mechanism for automatic tool changer
- Tapping machine tool changer based dual four-bar linkages
- New four-bar path generation method
- New hybrid numerical optimization method
ATC mechanism
Angle transmission based on four-bar linkage
- Dual four-bar linkages
- New four-bar path generation method
- New hybrid numerical optimization method
Pol-E
Jumping robot by energy conversion
- Energy conversion from kinetic to potential energy
- No actuator added for jumping
- Compliant link design and analysis
TTURT
Underwater robot with tilting thrusters
- Four tilting thrusters for 6-DOF control
- Switching-based control
- Nonlinear control and dual-arm manipulation
Anyclimb
Vertical climbing on various curvatures
- Compliant adaptation mechanism for curved walls
- Minimal design with single actuator
- Flat dray adhesives
Hexphere
Amphibious water- and ground-running
- Six spherical footpads for the movement
- Klan mechanism for tripod gait
- Bio-inspired tail steering
FlipBot
High ability of obstacle overcoming
- Flip locomotion for stair-climbing
- Tracked mechanism for ground movement
- Optimal design for kinematic parameters
Combot
Compliant tracked magnetic climber
- Three magnetic tracked modules
- Torque-based controlled compliant joints
- Application for ship building industries
Dry-adhesive tracked climbing robot
Dry-adhesive based compliant climber
- V-10 based dry-adhseives
- Compliant joint for preloading and obstacle overcoming
- Tail-design for compensating pitch-back moment
Dual servo control of PKM
Positioning control of parallel platform
- Three DOF parallel mechanism with dual stage system
- H-infinity robust controller design
- Master-slave structure for concurrent control
Bio locomotion
Simulation on gecko locomotion
- Measure the joint angle of a gecko
- Kinematic simulation of the locomotion
- Extension algorithm of the locomotion of gecko to various movements
Micro cooling device
Heat transfer optimization
- Heat transfor optimization for the evaporator
- Expansion nozzle design
- Optimization of the nozzle parameters