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Research Areas
Our main interest is to analyze the motion and the mechanics of moving systems, to develop the way the systems are designed and controlled, and to realize the physical concepts in the real world. This includes both mechanical (e.g., robots, construction machineries, mechanism components, etc.) and biological systems (e.g., humans, animals, insects, etc.). The current research trend shows that the mechanical modeling of robotics can be extended to more complicated biological systems. We also believe that the analysis of motion principles and structures in the nature will provide innovative ideas for design and control of novel mechanisms.
- Manipulation and locomotion
- Comprehensive dynamic modeling
- Load-effective motions for large payload
- Dynamic balance criteria and control
- Unknown time-varying loads and disturbances in dynamic environments
- Feedback control for optimal motion
- Highly articulated systems, Redundant robots, under-actuated systems, human-like mechanisms
- Standing, falling, pulling, pushing, lifting, throwing, walking, climbing, jumping, kicking, etc.
- Applications: robotic motion planning, physics-based human motion simulation, etc.
- Algorithms for internal reactions during optimal motions (fictitious joints)
- Prediction and optimal distribution of external reaction loads
- Ground reaction forces
- Human injury prediction and prevention
- Nonholonomic constraints
- Stability analysis
- Modeling of contact and impact
- Optimal motion planning
- Optimization in robotics and biomechanics
- Efficient algorithm for real-time simulation
- Advanced methods of numerical optimization
- Interaction between optimization modules and dynamics simulation tools
- Optimization-embedded control
- Bio-inspired design and control: motion principles and structures of nature
- Musculoskeletal biomechanics and human modeling
- Modeling of joint stability, stiffness, and damping (e.g., inertial measurement for knee stability)
- Prediction and analysis of energy consumption
- Motion capture experiments and analysis
- Sensitivity analysis of system parameters
- Actuator characteristics of muscle-tendon systems
- Bio-inspired smart materials and structures-biomedical sensors for space applications
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