Prof. Hae-Gained Park (left), Ph.D. Scholar Yong Um (centre), Ph.D. Scholar Seungwoo Hong (proper). Credit: KAIST

We had the possibility to interview Hae-Gained Park, Seungwoo Hong and Yong Um, authors of the paper “Agile and versatile climbing on ferromagnetic surfaces with a quadrupedal robotic”, not too long ago printed in Science Robotics.

What’s the matter of the analysis in your paper?
The primary matter of our work is that the robotic now we have developed can transfer agilely, not solely on flat floor but in addition on vertical partitions and ceilings manufactured from ferromagnetic supplies. Additionally, it has the power to carry out dexterous maneuvers resembling crossing gaps, overcoming obstacles, and transitioning upon corners.

Might you inform us concerning the implications of your analysis and why it’s an fascinating space for examine?
Such agile and dexterous locomotion capabilities will be capable to develop the robotic’s operational workspace and strategy locations which are tough or harmful for human operators to entry immediately. For instance, inspection and welding operations in heavy industries resembling shipbuilding, metal bridges, and storage tanks.

Might you clarify your methodology? What had been your foremost findings?
Our magnet foot can change the on/off state in a brief time period (5 ms) and in an energy-efficient means, because of the novel geometry design of EPM. On the identical time, the magnet foot can present massive holding forces in each shear and regular instructions as a result of MRE footpad. Additionally, our actuators can present balanced velocity/torque traits, high-bandwidth torque management functionality, and the power to mediate excessive impulsive pressure. To manage vertical and inverted locomotion in addition to varied versatile motions, now we have utilized a management framework (mannequin predictive management) that may generate dependable and strong response forces to trace desired physique motions in 3D house whereas stopping slippage or tipping-over happens. We discovered that every one the weather talked about earlier are crucial to carry out dynamic maneuvers in opposition to gravity.

What additional work are you planning on this space?
Up to now, the robotic is ready to transfer on easy surfaces with average curvature. To allow the robotic to maneuver on irregularly formed surfaces, we’re engaged on designing a compliantly-integrated a number of miniaturized EPMs with MRE footpads that may enhance the efficient contact space to offer strong adhesion. Additionally, a imaginative and prescient system with high-level navigation algorithms shall be included to allow the robotic to maneuver autonomously within the close to future.

Concerning the authors

Hae-Gained Park acquired the B.S. and M.S. levels from Yonsei College, Seoul, South Korea, in 2005 and 2007, respectively, and the Ph.D. diploma from the College of Michigan, Ann Arbor, MI, USA, in 2012, all in mechanical engineering. He’s an Affiliate Professor of mechanical engineering with the Korea Superior Institute of Science and Expertise, Daejeon, South Korea. His analysis pursuits embody the intersection of management, dynamics, and mechanical design of robotic methods, with particular emphasis on legged locomotion robots. Dr. Park is the recipient of the 2018 Nationwide Science Basis (NSF) CAREER Award and NSF most prestigious awards in help of early-career college.

Seungwoo Hong acquired the B.S. diploma from Shanghai Jiao Tong College, Shanghai, China, in July 2014, and the M.S. diploma from Korea Superior Institute of Science and Expertise (KAIST), Daejeon, Korea, in August 2017, all in mechanical engineering. He’s at the moment a Ph.D. candidate with the Division of Mechanical Engineering, KAIST, Daejeon, Korea. His present analysis pursuits embody model-based optimization, movement planning and management of legged robotic methods.

Yong Um acquired the B.S. diploma in mechanical engineering from the Korea Superior Institute of Science and Expertise, Daejeon, South Korea, in 2020. He’s at the moment working towards the Ph.D. diploma in mechanical engineering in Korea Superior Institute of Science and Expertise. His analysis pursuits embody mechanical system and magnetic machine design for legged robotic.

tags: c-Analysis-Innovation