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HomeRoboticsInterview with Hae-Gained Park, Seungwoo Hong and Yong Um about MARVEL, a...

Interview with Hae-Gained Park, Seungwoo Hong and Yong Um about MARVEL, a robotic that may climb on numerous inclined metal surfaces


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

We had the prospect 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”, lately printed in Science Robotics.

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

May you inform us concerning the implications of your analysis and why it’s an attention-grabbing space for examine?
Such agile and dexterous locomotion capabilities will be capable to increase the robotic’s operational workspace and method locations which might be troublesome or harmful for human operators to entry instantly. For instance, inspection and welding operations in heavy industries resembling shipbuilding, metal bridges, and storage tanks.

May you clarify your methodology? What had been your important findings?
Our magnet foot can change the on/off state in a brief time frame (5 ms) and in an energy-efficient manner, because of the novel geometry design of EPM. On the identical time, the magnet foot can present giant 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 power. To manage vertical and inverted locomotion in addition to numerous versatile motions, we’ve got utilized a management framework (mannequin predictive management) that may generate dependable and sturdy 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?
To this point, the robotic is ready to transfer on easy surfaces with reasonable 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 supply sturdy adhesion. Additionally, a imaginative and prescient system with high-level navigation algorithms will probably 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 programs, 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 school.

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 present 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 programs.

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 present 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.


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Daniel Carrillo-Zapata
was awared his PhD in swarm robotics on the Bristol Robotics Lab in 2020. He now fosters the tradition of “scientific agitation” to have interaction in two-way conversations between researchers and society.

Daniel Carrillo-Zapata
was awared his PhD in swarm robotics on the Bristol Robotics Lab in 2020. He now fosters the tradition of “scientific agitation” to have interaction in two-way conversations between researchers and society.

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