Development of robotic work control technology capable of grasping and manipulating various objects in everyday life environment based on multimodal recognition and using tools.

• Developing of a robot gripper that can grasp irregular-shaped objects as well as regular objects.
• Developing of an anthropomorphic robot hand with multiple degree of freedom.
• Research on omnidirectional mobile robot designing, controlling, and application.
• Research on path planning for mobile robot and motion planning for dual-arm robot.
• Research on object grasping and tool application technology based on multimodal sensing technology.

• A developed robotic finger consists of a five-bar linkage and double parallelogram linkage.
• A developed robotic gripper is designed using the underactuated system by mounting the mechanical passive elements.
• The developed gripper is installed additional actuators for the independent pinching motion for each fingertip.

• Robot hand and wrist design for installation of driving part to the forearm part.
• When the flexible cylinder is curved, the embedded wires become slack or taut in length.
• Application of helix structure to the wrist structure.

• Grasping score calculation algorithm using Grasp Wrench Space.
• Grasp-RRT planner to grip objects and generate path.

• Research on work scenarios using multimodal sensing technologies such as vision, contact, and tactile sensors and using various robot hands.