- 연구실소개 (책임교수 : 정주노)
- 당로봇 연구실은 2005년 설립된 이후 , 로봇 연구의 world best를 지향하는 연구실입니다. 본 연구실에서는 양팔 로봇의 기구학/동역학 분석과 제어, 인간/로봇 grasping 분석, 이동로봇의 경로 계획, 텐던기반&텐세그리티 시스템의 기구학/동역한 분석 등을 아우르는 연구를 수행하고 있습니다. 이와 함께 힘/위치 제어, 햅틱 시스템, 의료용 로봇, 영상처리도 연구를 수행하고 있습니다. 본 연구실은 인간 생활에 실제적으로 도움을 줄 수 있는 로봇을 개발하기 위해 노력할 것입니다. 많은 관심과 격려를 부탁드립니다.
연구분야 (Research Interest)
| 연구분야 | 기구학/동역학 모델링, 로봇 매니퓰레이터 분석 및 제어, 로봇/인간 grasping, 텐던 기반 & 텐세그리티 시스템, 산업 자동화 로봇 시스템, 인간과 로봇의 상호작용. |
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| 진행중인 과제 |
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연구실 구성원
- 강봉기(석박사과정) : gangbongi@korea.ac.kr
- 정다운(석박사과정) : downj11@korea.ac.kr
- 김문유(석박사과정) : mykim5595@korea.ac.kr
- 박준민(석박사과정) : junmany12@korea.ac.kr
- 김태훈(석박사과정) : kim_taehoon@korea.ac.kr
- GU CHENYAN(석박사과정) : guchengyan@korea.ac.kr
연구업적
Journal ( ~ 2021)
- Muhammad Shoaib, Ehsan Asadi, Joono Cheong, Alireza Bab-Hadiashar, “Muhammad Shoaib; Ehsan Asadi; Joono Cheong; Alireza Bab-Hadiashar”, IEEE Access, vol.9, 2021
- Youngsu Cho, Bongki Kang, Chanhun Park, Joono Cheong, “Kinematics of Elastic Tendons for Tendon-Driven Manipulators with Transmission Friction”, IEEE/ASME Transactions on Mechatronics, 2021
- Youngsu Cho, Taewoo Hong, Joono Cheong, Byung-Ju Yi, Wheekuk Kim & Hyunhwan Jeong, “Development of a new 3T1R type cable-driven haptic device”, Journal of Mechanical Science and Technology, vol.34, 2020
- Shoaib Muhammada, Cheong Joono, Kim Younghwan, Cho Hyeonjoong, “Fractal bubble algorithm for simplification of 3D point cloud data”, Journal of Intelligent & Fuzzy Systems, vol.6, 2019
- Mathieu Brunot, Alexandre Janot, Francisco Carrillo, Joono Cheong, Jean-Philippe Noël, “Output Error Methods for Robot Identification”, Journal of Dynamic Systems, Measurement, and Control, vol.3, pp.0022-0434, 2019
- Youngsu Cho, Hyun Min Do, Joono Cheong, “Screw based kinematic calibration method for robot manipulators with joint compliance using circular point analysis”, Robotics and Computer-Integrated Manufacturing, vol.60, pp.63, 2019
- Youngsu Cho, Joono Cheong, Min Gun Kim, Byung-Ju Yi & Wheekuk Kim, “Efficient optimal force distribution method of the parallel mechanism with actuator redundancy based on geometric interpretation”, Journal of Mechanical Science and Technology, vol.33, pp.2915, 2019
- 강봉기, 윤중현, 정주노, 정현환, 이원석, 한수희, 최원만, “자동차 엔진용 Thrust Washer 생산을 위한 판형 소재의 단조 공정기술개발 및 이를 위한 유한요소해석”, Journal of the Korean Society of Manufacturing Technology Engineers, 2018
- Hyunhwan Jeong, Bongki Kang and Joono Cheong, “Stiffness analysis and experimental validation of modular-type hybrid antagonistic tendon-driven joint systems”, Robotica, vol.36, 2018
- Sung Mok, KimaByung-Ju Yi, Joono Cheong, Min Gun Kim, Wheekuk Kim, “Implementation of a revolute-joint-based asymmetric Schönflies motion haptic device with redundant actuation”, Mechatronics, vol.50, pp87, 2018
- Dawoon Jung, Joono Cheong, Dong Il Park and Chanhun Park, “Backward sequential approach for dynamic parameter identification of robot manipulators”, International Journal of Advanced Robotic Systems, 2018
- Minsung Kang, Joono Cheong, “A practical iterative PID tuning method for mechanical systems using parameter chart”, International Journal of Systems Science, vol.48, pp.2887, 2017
- Youngwoo Choi, Dawoon Jung, Joono Cheong, Hyun Min Do & Jin-Ho Kyung, “Dynamics superposition method for separating torque components of robot manipulators using sinusoidal trajectories”, Journal of Mechanical Science and Technology, vol.31, pp.5505, 2017
- Joono Cheong and Robert E. Skelton, “Nonminimal Dynamics of General Class k Tensegrity Systems”, International Journal of Structural Stability and Dynamics vol.15, 2015
- Hyunhwan Jeong, Joono Cheong & SangJoo Kwon, “Dual-mode variable stiffness actuator using two-stage worm gear transmission for safe robotic manipulators”, International Journal of Precision Engineering and Manufacturing, vol.16, pp.1761, 2015
- Jongwoo Park, Na jin Seo, Jaebum Son, Wheekuk Kim & Joono Cheong, “Postural variation of hand precision grips by object size”, Journal of Mechanical Science and Technology, vol.28, pp.1641, 2014
- JoonoCheong, Robert E.Skeltonb, YoungsuCho, “A numerical algorithm for tensegrity dynamics with non-minimal coordinates”, Mechanics Research Communications, vol.58, pp.46, June 2014
- Hyunhwan Jeong, Hyungsik Kim, Joono Cheong, and Wheekuk Kim, “Virtual joint method for kinematic modeling of wheeled mobile manipulators”, International Journal of Control, Automation, and Systems, vol.12, pp1059, 2014
- J. Cheong, Y. Cho, and S.-I. Lee, "Invariant slow manifold approach for exact dynamic inversion of singularly perturbed linear mechanical systems with admissible output constraints," J. of Sound and Vibration, vol.331, pp.3710–3720 , 2012.
- H. Jeong and J. Cheong, "Evaluation of 3D grasps with physical interpretations using object wrench space," Robotica, vol.30(3), pp.405-417, 2012.
- J. Cheong, S.-I. Niculescu, and F. Mazenc "Predictor-Corrector Type Multi-Rate Sample Hold for Continuous Estimated Outputs," Int. J. of Control, Automation, and Systems, vol 10(1), pp.192-196, 2012.
- Y. Choi, J. Cheong, and H. Moon, “A Trajectory Planning Method for Output Tracking of Linear Flexible Systems Using Exact Equilibrium Manifolds,” IEEE-ASME Transactions on Mechatronics, vol.15(5), pp.819-826, 2010.
- H. Jeong, J. Park, and J. Cheong, “A new grasp quality measure considering the physical limits of robot hands,” Artificial Life and Robotics (Invited Paper), vol.14, pp.524-527, 2009.
- Y. Choi and J. Cheong, “New Expressions of 2X2 Block Matrix Inversion and Their Application,” IEEE Transactions on Automatic Control, vol.54(11), pp.2648-2653, 2009.
- J. Cheong, J. Park, and S.-I. Niculescu, “Physically Based Collaborative Simulations under Ring-Like Network Configurations,” IEEE Computer Graphics and Applications, vol.29(4), pp.64-80, 2009.
- J. Cheong, S.-I. Niculescu, and C. Kim, “Motion Synchronization Control of Distributed Multi-Subsystems with Invariant Local Natural Dynamics,” IEEE Transactions on Robotics, vol.25(2), pp.382-398, 2009.
- J. Cheong and S. Lee, “Linear PID composite controller and its tuning for flexible link robots,” Journal of vibration and control, vol.14, pp.291-318, 2008.
- J. Cheong, S.-I. Niculescu, A. Annaswamy, and M. A. Srinivasan, “Synchronization control for physics-based collaborative virtual environments with shared haptics,” Advanced Robotics, vol.21, pp.1001-1029, 2007.
- S. Kwon and J. Cheong, “Robust minimum-time control with coarse/fine dual-stage mechanism,” Journal of Mechanical Science and Technology, vol.20, pp.1834-1847, 2006.
- J. Cheong and S. Kwon, “Robustness analysis under second-order plant and delay uncertainties for symmetri- cally coupled systems with time delay,” Journal of Mechanical Science and Technology, vol.20, pp.1195-1208, 2006.
- J. Park, S. Lee, and J. Cheong, “Expert-Learner Based Virtual Reality Aid with Kinesthetic Interaction for Upper Limb Rehabilitation,” Key Engineering Materials, vol.326, pp.759-764, 2006.
- C. Choi, H. Han, J. Kim, and J. Cheong, “Characterization of the Biomechanical Properties of the Lower Esophagus for Surgical Simulation,” Key Engineering Materials, vol.326, pp.835-838, 2006.
- J. Cheong, Y. Youm, and W. K. Chung, “Inverse Kinematics of Multi-link Flexible Robots for High-Speed Applications,” IEEE Trans. on Robotics and Automation, vol.20(2) pp. 269-282, 2004.
- J. Cheong, Y. Youm, and W. K. Chung, “Accessibility and Identifiability of Horizontal Vibration in 3-D Two-Link Flexible Robots: System Mode Approach,” Journal of Sound and Vibration, vol.269, pp.489-509, 2004
- J. Cheong and Y. Youm, "System Mode Approach for Analysis of Horizontal Vibration of 3-D Two-Link Flexible Manipulators," Journal of Sound and Vibration, vol.268, pp.49-70, 2003.
- J. Cheong, W. K. Chung, and Y. Youm, "Two-Step Controller for 3-D Flexible Link Manipulators: Bandwidth Modulation and Modal Feedback Approach," ASME Journal of Dyna., Syst., Meas., and Contr., vol.124, pp. 566-574, 2002.
- J. Cheong, Y. Youm, and W. K. Chung, "Joint Tracking Controller for Multi-Link Flexible Robot Using Disturbance Observer and Parameter Adaptation Scheme," Journal of Robotic Systems, vol.19(8), pp. 401-417, 2002.
International conference paper( ~ 2012)
- J. Cheong, S.I. Niculescu, and C. Kim, “Motion synchronization control of distributed multisubsystems with invariant local natural dynamics”, IEEE Transactions on Robotics, 25(2):582–598, 2009.
- J. Cheong, S.-I. Niculescu, A. Annaswamy, and M. A. Srinivasan, “Motion synchronization in virtual environments with shared haptics and large time delays,” in WHC ’05: Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. Washington, DC: IEEE Computer Society, pp. 277–282, 2005.
- J. Cheong and W. Chung and Y. Youm, ”Inverse Kinematics of Multilink Flexible Robots for High-Speed Applications”, IEEE Transactions on Robotics and Automation, Vol. 20, pp. 269–282, 2004.
- J. Cheong, W. K. Chung, and Y. Youm, “PID composite controller and its tuning for flexible link robots”, in Proc. IEEE/RSJ Int. Conf. Intelligent Robotics and Systems. pp. 2122–2127, 2000.
- Joono Cheong, Wan Kyun Chung, and Youngil Youm, “Fast Suppression of Vibration for Multi-Link Flexible Robots Using Parameter Adaptive Control,” in Proc. of the IEEE/RSJ Int. Conf on Intelligent Robots and Systems, pp. 913 –918, 2001.
- Joono Cheong, Youngil Youm, and Wan Kyun Chung, “Investigation and Comparison of Possible Boundary Conditions and System Vibration Modes in Two-Link Flexible Manipulators,” in Proc. of the ASME International Symposium on Advances in Robot Dynamics and Control, IMECE, CD-2, 2001.
- Joono Cheong, Wan Kyun Chung, and Youngil Youm, “Enhancement of Vibration Suppression for Multi-Link Flexible Robots Using Direct Parameter Adaptation,” in Proc. of the ASME International Symposium on Advances in Robot Dynamics and Control, IMECE, CD-2, 2001.
- J. Cheong, W. Chung, and Y. Youm, “Bandwidth modulation of rigid subsytem for the class of flexible robots”, in Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1478–1483, 2000.
- Joono Cheong, Wan Kyun Chung, and Youngil Youm, “Direct Modal Feedback Approach in the Vibration Control of 3D Flexible Manipulator,” in Proc. of the International Symp. on Mechatronics and Intelligent Mechanical System, pp. 31-36, 2000.
- J. Cheong, W.K. Chung, and Y. Youm, “Control of twolink flexible manipulator using disturbance observer with reation torque feedback,” Proc Int Conf on Advanced Robotics, pp. 227–232, 1997.