FLLEX Hand First Run! - Preliminary Test IRIM LAB KOREATECH 2019-06-28 | 5-Finger 12-DOF Hand - Thumb, index and middle fingers : 3 DOF per finger - Ring and little fingers: totally 3 DOF (2 underactuated flexions, 1 coupled ab/adduction)Impact Absorbing Actuators - Actuated by BLDC motors and ball-screws - Impact and overload absorbing clutch mechanismTo be improved - Adding a 2-DOF wrist mechanism - Soft and robust skin with fluid lubrication - Reducing actuator size, and so on ...% Supported by Bionic Hand Project of National Research Foundation of Korea(NRF) funded by the Ministry of Science & ICT% Accepted at IROS 2019
Presenting the Unique Capability of LIMS3! - Impact and Compliance Test IRIM LAB KOREATECH 2022-09-29 | - Gravity and Friction Compensation - Safe Impedance Control - Impact Resilience Test - Interaction with ImpactsIRIM LAB, KOREATECHwith NAVER LABS
New LIMS with Improved Performance! LIMS3-AMBIDEX IRIM LAB KOREATECH 2022-08-02 | LIMS3-AMBIDEX [Improved Properties]- Increased payload - Exceptional resilience to the impact- Robust and simple mechanism aiming at commercialization[Specifications]Payload: 5 kg in the entire workspaceTorque: 4 times higher torque than LIMS2-AMBIDEX Cont. torque: 42Nm, Peak torque: 119NmTotal mass: 9.1 kg per armMoving part mass (under shoulder): 4.50 kgImpact resilience: collisions with objects greater than 5 kg at 5 m/s.% Supported by NAVER LABS
An Inherently Safe NP Swab Sampling Robot for COVID-19 IRIM LAB KOREATECH 2022-06-08 | [Specifications and Advantages]- 3 DOF (RCM, swab insertion, swab rotation)- Nonsingular RCM mechanism (-45~90 deg)- Extremely small distal mass (35 g)- Mechanical compliance with accurate limit force (0.5 N)- Automatic swab releasing mechanism for recapping[Further works]- Complete the entire system considering vial capping and sanitization.- Apply face and nostril detection algorithms. - Develop a safety algorithm using the force sensor. - Perform the clinical tests.- Most of all, make it less scary :)% Accepted to IEEE RA-L for IROS 2022.
Preliminary Experiments on Dynamic Human-Robot Interaction IRIM LAB KOREATECH 2021-11-30 | Preliminary Experiments on Dynamic Human-Robot Interaction
Congratulations on KOREATECH 30th Anniversary! IRIM LAB KOREATECH 2021-11-30 | Happy birthday, KOREATECH!Thank you to everyone who celebrated the anniversary.Thank you for the great collaboration, Prof. Kang-Sun Choi.https://cms3.koreatech.ac.kr/cv3vpl/index..doSpecial thanks to all IRIM LAB members. Your efforts shined!
Agile Omnidirectional Mobile Robot for Human Environments IRIM LAB KOREATECH 2021-04-02 | Agile Omnidirectional Mobile Robot with Gravity Compensated Wheel-Leg Mechanisms for Human Environment - Changeable supporting polygon with a small footprint like humans. - Holonomic omnidirectional mobile robot with wheel-leg mechanisms - 4 mecanum wheels with gravity compensated 2-DOF legs % Submitted to IEEE IROS2021 and RA-L% Supported by NAVER LABS
Self-Contained 2-DOF Ankle-Foot Prosthesis Ver.1 First Test! IRIM LAB KOREATECH 2021-03-11 | Self-Contained 2-DOF Ankle-Foot Prosthesis with Low-Inertia Extremity for Agile Walking on Uneven Terrains - All-In-One design including the battery and electronics - 2.25 kg comparable to commercial 1-DOF prostheses - Extremely low inertia at distal frames - Unidirectional flexion assist spring at the proximal part % Submitted to IEEE IROS2021 and RA-L.% Supported by Hugo Dynamics & Korea Institute of Machinery & Materials
FLLEX Hand Ver. 2 : Robustness and Payload Test IRIM LAB KOREATECH 2020-06-06 | FLLEX Hand Ver. 2 - Increased degrees of freedom: from 12 DOF to 15 DOF - Decreased weight and size: from 2.27 kg to 1.81 kg - Removal of remaining bearings in the fingers: No bearings and metal pins in the fingers and the palm -15-axis motor controller developed from scratch - Wrist design for future addition of 2-DOF actuationFurther works - Development of a 2-DOF wrist actuation mechanism - Making a modified version of the AMBIDEX arm to mount it - Development of tactile sensors and skins - Highly dynamic manipulation hopefully aiming at human-level performance...% We received the IEEE RA-L Best Paper Award in ICRA 2020 !!!Y. Kim, J. Yoon and Y. Sim, "Fluid Lubricated Dexterous Finger Mechanism for Human-Like Impact Absorbing Capability," in IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3971-3978, Oct. 2019.- Special thanks for the passion and devotion of IRIM Lab members, Junsuk Yoon, Young-Woo Sim, Hyeonah Bae, and Geon-Ho Bak!- Special thanks for the great support of the Bionic Hand Project members!
BLT Gripper : Grasping Mode, Irregular Object, Payload/Repeatability Test, and an Improved Gripper IRIM LAB KOREATECH 2020-05-31 | BLT Gripper 1. Various Grasping Mode Test2. Irregular Shaped Object Test3. Payload and Repeatability Testand, Introducing an Improved Gripper% Submitted to IROS 2020 and RA-L
BLT Gripper: 3-Finger, 5-DOF Adaptive Gripper IRIM LAB KOREATECH 2020-02-26 | BLT Gripper (Belt and Link actuated Transformable adaptive gripper with active transition capability) :- A 3-Finger 5-DOF adaptive gripper with active transition capability between precise pinch and compliant grasp.- Simple and unique finger design providing evenly distributed contact force and pressure for stable grasping.- Size and weight : 81 x 208 x 96 mm, 1.2 kg- Number of Act. : 5 Flexion 3 Fingertip 1 Rotation 1Fingertip force : Peak 60 N Holding 60 N Cont. 10 N% Submitted to IROS 2020 and RA-L.
LIMS2-AMBIDEX Whole Body Motion Test IRIM LAB KOREATECH 2019-10-15 | LIMS2-AMBIDEX Whole Body Motion Test Using Parabolic Blending Trajectories - Combined motions of two 7-DOF arms, one 3-DOF waist, and one 3-DOF neck. - Smooth trajectory generated by using a parabolic blending of 11 via points in joint space. - The trajectory is predetermined. Sensor feedback is not used.
Idea: Snake robot with moving skins IRIM LAB KOREATECH 2019-05-06 | What if a snake robot has actively sliding skins? - All skins are actuated by one high power motor. - Actuation and steering are decoupled. : No undulation motion required! : Simple motion control is available! - Handling the snake is not dangerous and surprisingly cute!% Idea generation with BIOROBOTICS LAB, ERICA, Hanyang Univ. RISE Lab, SKKU, Neuro Robotics Lab, SEOULTECH.
3-DOF Waist for LIMS2-AMBIDEX using Gravity Compensation Mechanisms IRIM LAB KOREATECH 2019-03-11 | Complete gravity compensation using compressive springs and parallel link mechanisms - Nonsingular translational motions in 3-D space- Max. compensation load : 22 kg- Complete gravity compensation independent of the position change of the center of mass % Submitted to IROS2019% Joint development with NAVER Labs
Waist Mechanism for LIMS2-AMBIDEX with Arm Motions IRIM LAB KOREATECH 2019-03-11 | Complete gravity compensation using compressive springs and parallel link mechanisms - Nonsingular translational motions in 3-D space- Max. compensation load : 22 kg- Complete gravity compensation independent of the position change of the center of mass % Submitted to IROS2019% Joint development with NAVER Labs
Payload and Manipulation Test of FLLEX Hand IRIM LAB KOREATECH 2019-02-24 | FLLEX Hand : Payload and Manipulation Test - Fingertip force : over 40 N - Dexterous manipulation of a ball - Precise manipulation of a shaft - Computer mouse manipulation % Submitted to RAL and IROS2019
Repeatability of FLLEX Hand under Multiple Impacts IRIM LAB KOREATECH 2019-02-24 | Repeatability of FLLEX Hand under multiple Impacts - During the intervals between the measurements, impacts causing hyperextensions and twists were applied. - Repeatability : under 0.2 mm : standard deviation : 0.116 mm : max. deviation from mean value : 0.169 mm % Submitted to RAL and IROS2019
Basic Concept of FLLEX Hand IRIM LAB KOREATECH 2019-02-24 | FLLEX Hand hand (FLuid Lubricated dEXterous hand) : Fluid Lubricated Dexterous Hand Mechanism for Human-like Impact Absorbing Capability - 3 DOF per finger - fingertip force 40 N - Repeatability 0.2 mm - Excellent Impact absorbing capability % Submitted to RAL and IROS2019
IROS 2018 Demo - Introduction to LIMS2-AMBIDEX IRIM LAB KOREATECH 2018-10-06 | - Basic motions for the introduction of LIMS2-AMBIDEX- High-speed Interaction motion with impact- Fan Human ChallengeRelated Papers[1] Yong-Jae Kim, "Anthropomorphic Low-Inertia High-Stiffness Manipulator for High-Speed Safe Interaction," Transaction On Robotics, 2017.[2] Yong-Jae Kim, Jong-In Kim, and Wooseok Jang, "Quaternion Joint: Dexterous 3-DOF Joint Representing Quaternion Motion for High-Speed Safe Interaction," IROS 2018.[3] Hansol Song, Yun-Soo Kim, Junsuk Yoon, Seong-Ho Yun, Jiwon Seo, and Yong-Jae Kim, "Development of Low-Inertia High-Stiffness Manipulator LIMS2 for High-Speed Manipulation of Foldable Objects," IROS 2018.
IROS 2018 Demo - Motion Teaching and Repeatability Test IRIM LAB KOREATECH 2018-10-06 | - The low mass and high back-drivability of the robot enable the fast and intuitive teaching.- Trajectories in the joints space and the Cartesian workspace are available.- Repeatability was measured to be within 0.5 mm.Related Papers[1] Yong-Jae Kim, "Anthropomorphic Low-Inertia High-Stiffness Manipulator for High-Speed Safe Interaction," Transaction On Robotics, 2017.[2] Yong-Jae Kim, Jong-In Kim, and Wooseok Jang, "Quaternion Joint: Dexterous 3-DOF Joint Representing Quaternion Motion for High-Speed Safe Interaction," IROS 2018.[3] Hansol Song, Yun-Soo Kim, Junsuk Yoon, Seong-Ho Yun, Jiwon Seo, and Yong-Jae Kim, "Development of Low-Inertia High-Stiffness Manipulator LIMS2 for High-Speed Manipulation of Foldable Objects," IROS 2018.
IROS 2018 Demo - Impact test IRIM LAB KOREATECH 2018-10-06 | -A P2P motion in the joint space was executed.-Joint position control with joint torque limit is applied.Related Papers[1] Yong-Jae Kim, "Anthropomorphic Low-Inertia High-Stiffness Manipulator for High-Speed Safe Interaction," Transaction On Robotics, 2017.[2] Yong-Jae Kim, Jong-In Kim, and Wooseok Jang, "Quaternion Joint: Dexterous 3-DOF Joint Representing Quaternion Motion for High-Speed Safe Interaction," IROS 2018.[3] Hansol Song, Yun-Soo Kim, Junsuk Yoon, Seong-Ho Yun, Jiwon Seo, and Yong-Jae Kim, "Development of Low-Inertia High-Stiffness Manipulator LIMS2 for High-Speed Manipulation of Foldable Objects," IROS 2018.
IROS 2018 Fan Robotic Challenge IRIM LAB KOREATECH 2018-10-04 | The IROS2018 fan Robotic Challenge is a technical challenge organized by IROS2018 Local Organizing Committee, where robots have to manipulate the official IROS2018 Spanish fan as good and fast as possible. Two main features will score during this process: a) time and b) degree of opening and closing of the fan.The result of the final competition1st position: IRIM LAB, KOREATECH2nd position: DLR Team ZLP3rd Position: Advanced Industrial AutomationRelated Papers[1] Yong-Jae Kim, "Anthropomorphic Low-Inertia High-Stiffness Manipulator for High-Speed Safe Interaction," Transaction On Robotics, 2017.[2] Yong-Jae Kim, Jong-In Kim, and Wooseok Jang, "Quaternion Joint: Dexterous 3-DOF Joint Representing Quaternion Motion for High-Speed Safe Interaction," IROS 2018.[3] Hansol Song, Yun-Soo Kim, Junsuk Yoon, Seong-Ho Yun, Jiwon Seo, and Yong-Jae Kim, "Development of Low-Inertia High-Stiffness Manipulator LIMS2 for High-Speed Manipulation of Foldable Objects," IROS 2018.
[Undergraduate Project] Balancing Motorcycle IRIM LAB KOREATECH 2017-10-26 | Motorcycle balanced by a momentum wheel- 3 motors for steering, driving and balancing, respectively.- Feedback control to maintain the vertical pose.-
LIMS2-AMBIDEX Clapping motion test IRIM LAB KOREATECH 2017-10-16 | LIMS2-AMBIDEX extremely light safe robot - Clapping test. - His/her wrists are all right.
LIMS2-AMBIDEX High-five motion test IRIM LAB KOREATECH 2017-10-16 | LIMS2-AMBIDEX extremely light safe robot High-five motion test. Nobody got hurt.
LIMS2-AMBIDEX Hand IRIM LAB KOREATECH 2017-10-16 | - 4-DOF 3-finger hand - Underactuated finger mechanism - Loosely coupled Joints for constant free motion
LIMS2-AMBIDEX backdrivability and torque limiting IRIM LAB KOREATECH 2017-10-16 | - Hardware backdrivability test : all motors off- Compliance test : motor currents limited
LIMS2-AMBIDEX mechanical design IRIM LAB KOREATECH 2017-10-16 | 1-DOF elbow joint - Torque and stiffness are amplified by 6 and 36 times due to a light-weight tension amplification mechanism. 3-DOF Wrist joint - Torque and stiffness are amplified by 4 and 16 times. -2-DOF virtual rolling contact joint which emulates pure rolling of two spheres was used for wrist roll/pitch motion.
LIMS2-AMBIDEX : basic motion test IRIM LAB KOREATECH 2017-10-16 | Low Inertia Manipulator with High Stiffness and Strength.Degrees of Freedom 7 DOF / Arm : Shoulder 3, elbow 1, wrist 3 3 DOF / Head : Pan, tilt and translationWeight Arm moving part : 2.63 kg Shoulder : 4.17 kg Hand : 0.633 kgSpeed & Peak torque Shoulder roll pitch: 499 deg/s, 82 Nm Shoulder Yaw: 749 deg/s, 55 Nm Elbow : 590 deg/s, 69 Nm Wrist roll pitch: 1,179 deg/s, 35 Nm Wrist yaw: 1,634 deg/s, 25.o Nm
TATH Glove : Soft Robotic Glove with High Gripping Force IRIM LAB KOREATECH 2017-07-16 | Soft Robotic Glove with High Gripping Force Using Force Distributing Compliant Structures.Accepted to IROS2017, Vancouver, Canada.
Variable Neutral-line Manipulator (Published in TRO 2014) IRIM LAB KOREATECH 2017-03-01 | Variable Neutral-line Manipulator - Published in TRO 2014A joint project of Samsung Electronics and MIT."A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery," Trans. on Robotics, 2014.
Layer Jamming Manipulator (Published in IROS 2012 & TRO) IRIM LAB KOREATECH 2017-03-01 | Layer Jamming Manipulator - Published in IROS 2012, Trans. on Robotics in 2013)A joint project of Samsung Electronics and MIT."Design of a tubular snake-like manipulator with stiffening capability by layer jamming," IEEE Int. Conf. on Intelligent Robots and Systems, 2012"A Novel Layer Jamming Mechanism With Tunable Stiffness Capability for Minimally Invasive Surgery," IEEE Trans. on Robotics, 2013.
RoboRay Hand (published in ICRA2014) IRIM LAB KOREATECH 2017-03-01 | RoboRay hand - Published in ICRA 2014A humanoid robot project of the Samsung Electronics Co."RoboRay hand: A highly backdrivable robotic hand with sensorless contact force measurements" 5-Fingered Robotic HandDegrees of freedom : 14 (including 2DOF wrist)Weight : 1.59 kgPeak fingertip force : 15NContact force detection : 0.196N (with current sensing and friction modeling)
LIMS Hand : Pinching and Grasping Test-2 IRIM LAB KOREATECH 2016-07-05 | LIMS Hand : Pinching and Grasping Test-2Parallel pinching situation - The fingertip keeps the parallel pose when the contact occurs at the distal part of the fingertip.Compliant Grasping Situation- The whole finger compliantly grasps the objects with the flexible finger body part when the contact occurs at the finger body orboth the fingertip and finger body.
LIMS Hand : DOF Augmentation for finger configuration changing IRIM LAB KOREATECH 2016-03-13 | The hand has 3 fingers and 3 motors. The equivalent DOF is totally 9; 3 for finger motion, which are actuated by the 3 motors, and 6 for finger configuration changing, which motions are made by the wrist roll motion of the robot arm. No. Fingers : 3 No. of Actuators : 3DOF for Grasping : 3 DOFDOF for Configuration : 6 DOF % The 6 DOF for configuration is augmented by using wrist roll actuation and excessive ROM of the fingers.
LIMS Hand : Pinching and Grasping Test IRIM LAB KOREATECH 2016-03-13 | Parallel pinching situation - The fingertip keeps the parallel pose when the contact occurs at the distal part of the fingertip.Compliant Grasping Situation- The whole finger compliantly grasps the objects with the flexible finger body part when the contact occurs at the finger body or both the fingertip and finger body.
Basic concept of LIMS Hand IRIM LAB KOREATECH 2016-03-13 | Basic concept of the Flexible Gripper with Parallel Pinching Capability
LIMS, the Fast and Safe Robot Arm - Fast Motion Test IRIM LAB KOREATECH 2015-10-21 | Vibration caused by inappropriate motor driver gains & low torsional stiffness of the elbow joint. - Driver gain tunning required - Improving joint frames and bearing replacement required
DRC - finals IRIM LAB KOREATECH 2015-10-18 | Koreatech member of team ROBOTIS- Manipulation algorithm Prof. Yong-Jae Kim, yongjae@koreatech.ac.kr Hyeongseok Jeon, Yongjun Jeong, Deokwon Lee, Hyunmin Kwon, Chanyeon Oh, Rowun Lee- Vision and recognition Prof. Kang-Sun Choi, ks.choi@koreatech.ac.kr Kiwon Oh-Communication Prof. Sung-Jin Kang, sjkang@koreatech.ac.kr DRC (DARPA Robotics Callenge) Project - Team name : Team ROBOTIS - 15th place of DRC Final - Contribution of Koreatech : Manipulation Algorithm Development
DRC - Door Opening Test IRIM LAB KOREATECH 2015-10-18 | Door Opening Test - using Cartesian space admittance control - 2D virtual spring (x-y plane)% DRC (DARPA Robotics Callenge) Project - Team name : Team ROBOTIS - 15th place of DRC Final - Contribution of Koreatech : Manipulation Algorithm Development
DRC - Virtual 2D spring Test IRIM LAB KOREATECH 2015-10-18 | Admittance control in X-Y plane. - using 6-axis F/T sensors - applied to door openning task % DRC (DARPA Robotics Callenge) Project - Team name : Team ROBOTIS - 15th place of DRC Final - Contribution of Koreatech : Manipulation Algorithm Development
DRC - Zero Moment Control Test IRIM LAB KOREATECH 2015-10-18 | Zero Moment Control Test- using a 6-axis F/T sensor- Admittance control with 6 actuators with position servo% DRC (DARPA Robotics Callenge) Project - Team name : Team ROBOTIS - 15th place of DRC Final - Contribution of Koreatech : Manipulation Algorithm Development
DRC - Valve Operation Test IRIM LAB KOREATECH 2015-10-18 | Valve Manipulation Test STEP1 : manual selection of value center position by teleoperation STEP2 : detecting pose and limb direction & autonomous approaching STEP3 : fine adjustment by teleoperationSTEP4: autonomous valve manipulation & retreating% DRC (DARPA Robotics Callenge) Project - Team name : Team ROBOTIS - 15th place of DRC Final - Contribution of Koreatech : Manipulation Algorithm Development
DRC - Grasping Test IRIM LAB KOREATECH 2015-10-18 | Grasping Test - Horizontal 45deg : RPY angle (0,0,45 deg) - Horizontal 0 deg : RPY angle (0,0,0 deg ) - Vertical 0 deg : RPY angle (0,45deg,0 )% DRC (DARPA Robotics Callenge) Project - Team name : Team ROBOTIS - 15th place of DRC Final - Contribution of Koreatech : Manipulation Algorithm Development
DRC - Basic Motion Test IRIM LAB KOREATECH 2015-10-18 | Preliminary Motion Test - motions in joint space - motions in Cartesian space - manual adjusting motions in Cartesian space% DRC (DARPA Robotics Callenge) Project - Team name : Team ROBOTIS - 15th place of DRC Final - Contribution of Koreatech : Manipulation Algorithm Development
LIMS, the Fast, Safe and Naughty Robot Arm - Annoying prank IRIM LAB KOREATECH 2015-10-03 | Just for fun
LIMS, the Fast and Safe Robot Arm - Wrist Mechanism IRIM LAB KOREATECH 2015-10-03 | LIMS Wrist Mechanism: 3-DOF wrist joint with tension amplification mechanisms
LIMS, the Fast and Safe Robot Arm - Elbow Mechansim IRIM LAB KOREATECH 2015-10-03 | LIMS Elbow Mechansim : 1-DOF Joint with a tension amplification mechanism
LIMS, the Fast and Safe Robot Arm - Interaction Test IRIM LAB KOREATECH 2015-10-03 | LIMS Interaction Test : Joint position control with current limit
