Changhyun Cho

TL;DR: In this article, a wheel-assembly automation system was proposed to increase the system bandwidth and tracking accuracy to ensure insertion tolerance, and the redundancy problem in the macro-micro manipulator was solved without complicated calculation by assigning proper functions to each part so that the macro part tracks the velocity error while the micro part regulates the fine position error.

TL;DR: In this paper, a separable structure composed of lower and upper mechanisms was proposed for a six DOF haptic master suitable for tasks involving mobile manipulation, where all actuators were placed at the base, and torques were delivered via wire-driven transmission.

TL;DR: The design and integration of ROBHAZ-DT2 and the user interface unit including the haptic device could successfully demonstrate a typical EOD task requiring abilities of mobility and manipulation in outdoor environment.

TL;DR: The design of a spring balancer for multi-DOF and multilink manipulators is considered as a mapping between two spaces, which represents the joint space for gravitational torques and the spring balancers space to compensate torques.

TL;DR: In this article, the authors proposed a gravity compensator for the roll-pitch rotation which can be operated in hemispherical work space, which consists of two 1-dof gravity compensators and a bevel differential.