Kitak Ahn

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Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents,(More)
Although the applications of hydraulic actuators to robotic systems has grown, it is difficult to get the customized components for the research platform. High bandwidth with higher force and torque compared to the electric motor in respect of size and weight has unique area as an actuator for robots. As the easy-getting products, the nozzle flapper type(More)
In this paper, we introduce the robot developed for inspection of 16” natural pipelines, applying a novel mechanism. To travel along various obstacles such as vertical pipes, elbows and branches, this system consists of several modules with articulated bodies connected by active joint modules. And the robot contains battery modules and wireless(More)
There are many controllers in the force control of the electro-hydraulic actuator. However they have a limitation of the performance and the application. In this study, to apply the iterative control to the force control, the iterative control strong to nonlinearity of the system was investigated. The role of the learning factor, a gain that make the(More)
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