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494 results on '"Cho, Kyu-Jin"'

3. Compliant Suction Gripper with Seamless Deployment and Retraction for Robust Picking against Depth and Tilt Errors

Author

Yoo, Yuna, Eom, Jaemin, Park, Min Jo, and Cho, Kyu-Jin

Subjects
Computer Science - Robotics
Abstract

Applying suction grippers in unstructured environments is a challenging task because of depth and tilt errors in vision systems, requiring additional costs in elaborate sensing and control. To reduce additional costs, suction grippers with compliant bodies or mechanisms have been proposed; however, their bulkiness and limited allowable error hinder their use in complex environments with large errors. Here, we propose a compact suction gripper that can pick objects over a wide range of distances and tilt angles without elaborate sensing and control. The spring-inserted gripper body deploys and conforms to distant and tilted objects until the suction cup completely seals with the object and retracts immediately after, while holding the object. This seamless deployment and retraction is enabled by connecting the gripper body and suction cup to the same vacuum source, which couples the vacuum picking and retraction of the gripper body. Experimental results validated that the proposed gripper can pick objects within 79 mm, which is 1.4 times the initial length, and can pick objects with tilt angles up to 60{\deg}. The feasibility of the gripper was verified by demonstrations, including picking objects of different heights from the same picking height and the bin picking of transparent objects., Comment: 8 pages, 11 figures

Published
2022

5. Origami-based Zygote structure enables pluripotent shape-transforming deployable structure

Author

Lee, Yu-Ki, Hao, Yue, Xi, Zhonghua, Kim, Woongbae, Park, Youngmin, Cho, Kyu-Jin, Lien, Jyh-Ming, and Choi, In-Suk

Subjects
Computer Science - Computational Engineering, Finance, and Science, Computer Science - Robotics
Abstract

We propose an algorithmic framework of a pluripotent structure evolving from a simple compact structure into diverse complex 3-D structures for designing the shape transformable, reconfigurable, and deployable structures and robots. Our algorithmic approach suggests a way of transforming a compact structure consisting of uniform building blocks into a large, desired 3-D shape. Analogous to the pluripotent stem cells that can grow into a preprogrammed shape according to coded information, which we call DNA, compactly stacked panels named the zygote structure can evolve into arbitrary 3-D structures by programming their connection path. Our stacking algorithm obtains this coded sequence by inversely stacking the voxelized surface of the desired structure into a tree. Applying the connection path obtained by the stacking algorithm, the compactly stacked panels named the zygote structure can be deployed into diverse large 3-D structures. We conceptually demonstrated our pluripotent evolving structure by energy releasing commercial spring hinges and thermally actuated shape memory alloy (SMA) hinges, respectively. We also show that the proposed concept enables the fabrication of large structures in a significantly smaller workspace.

Published
2022

9. Comparison of water and terrestrial jumping in natural and robotic insects.

Author

Koh, Je‐Sung, Baek, Sang‐Min, Kim, Baekgyeom, Cho, Kyu‐Jin, and Kim, Ho‐Young

Subjects
INSECTS, SCALE insects, GROUNDWATER, ROBOTICS, ANIMAL locomotion
Abstract

Jumping requires high actuation power for achieving high speed in a short time. Especially, organisms and robots at the insect scale jump in order to overcome size limits on the speed of locomotion. As small jumpers suffer from intrinsically small power output, efficient jumpers have devised various ingenuous schemes to amplify their power release. Furthermore, semi‐aquatic jumpers have adopted specialized techniques to fully exploit the reaction from water. We review jumping mechanisms of natural and robotic insects that jump on the ground and the surface of water, and compare the performance depending on their scale. We find a general trend that jumping creatures maximize jumping speed by unique mechanisms that manage acceleration, force, and takeoff duration under the constraints mainly associated with their size, shape, and substrate. [ABSTRACT FROM AUTHOR]

Published
2024
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15. Bio-inspired Design of a Double-Sided Crawling Robot

Author

Lee, Jong-Eun, Jung, Gwang-Pil, Cho, Kyu-Jin, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Mangan, Michael, editor, Cutkosky, Mark, editor, Mura, Anna, editor, Verschure, Paul F.M.J., editor, Prescott, Tony, editor, and Lepora, Nathan, editor

Published
2017
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29. Perching and Grasping Using a Passive Dynamic Bioinspired Gripper

Author

Firouzeh, Amir, Lee, Jongeun, Yang, Hyunsoo, Lee, Dongjun, and Cho, Kyu-Jin

Abstract

The ability to grasp objects broadens the application range of unmanned aerial vehicles (UAVs) by allowing interactions with the environment. The difficulty in performing a midair grasp is the high probability of impact between the UAV's foot and the target. For a successful grasp, the foot must smoothly absorb the energy of impact and simultaneously engage with the target in a short period of time. We present a bioinspired passive dynamic foot in which the claws are actuated solely by the impact energy. Our gripper simultaneously resolves the issue of smooth absorption of the impact energy and fast closure of the claws by linking the motion of an ankle linkage and the claws through soft tendons. We study the dynamics of impact and use the stiffness of the tendon as our design/control parameter to adjust the mechanics of the gripper for smooth recycling of the impact energy. Our gripper closes within 45 ms after initial contact with the impacting object without requiring any controller or actuation energy. An electroadhesive locking mechanism attached to the tendon locks the claws within 20 ms after reaching closed configuration. We demonstrated the effectiveness of our gripper by integrating it in an UAV and performing a variety of passive dynamic perching and grasping tasks.

Published
2024
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41. Design and Manufacturing a Bio-inspired Variable Stiffness Mechanism in a Robotic Dolphin

Author

Park, Yong-Jai, Cho, Kyu-Jin, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Goebel, Randy, editor, Siekmann, Jörg, editor, Wahlster, Wolfgang, editor, Lee, Jangmyung, editor, Lee, Min Cheol, editor, Liu, Honghai, editor, and Ryu, Jee-Hwan, editor

Published
2013
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42. Development of an Insect Size Micro Jumping Robot

Author

Koh, Je-Sung, Cho, Kyu-jin, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Kobsa, Alfred, Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Goebel, Randy, Series editor, Tanaka, Yuzuru, Series editor, Wahlster, Wolfgang, Series editor, Siekmann, Jörg, Series editor, Duff, Armin, editor, Lepora, Nathan F., editor, Mura, Anna, editor, Prescott, Tony J., editor, and Verschure, Paul F. M. J., editor

Published
2014
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