2025 – Present

Mobile manipulator with an extendable rail for workspace enlargement in compact mobile robots  

• Summary: 

1. Developed a compact manipulation system for small mobile robots using an extendable rail and a rail-traveling manipulator to enlarge the task workspace.

2. Enabled height-reaching tasks and enlarged the workspace proportional to the deployed rail length.

• Contribution:

1. Proposed the manipulation-system concept and the extendable-rail concept.

2. Extendable-rail prototype fabrication.

2022 - 2025

Foldable and rollable interlaced origami structure for deployable robotic systems  [Link]

• Summary : 

1. Achieving high strength in the deployed state while keeping a rolling hub compact is challenging.

2. By applying an interlacing principle to an origami-inspired design, the structure enables hub stowage even in a multi-layer, stacked folded form, while sustaining high loads after deployment.

3. Demonstrated on two deployable mobile robots, a 1.6 m deployable arm for shelving tasks and a tetrahedral deployable frame supporting a meter-scale 3D-printing system.

• Contribution :

1. Proposed the interlaced origami structure concept and fabrication methods.

2. Fabricated prototypes, developed an analytical model, and performed experiments and demonstrations.

3. Published in Science Robotics (first author) and one granted K.R. patent. (KR 10-2569390)

4. 1st Prize, MassRobotics Form & Function Robotics Challenge.

2021 - Present

High-load-capacity vertically deployable foldable scaffolding (with Korea Shipbuilding & Offshore Engineering Co., Ltd.)  [Link]

• Summary : 

1. Developed a Z-axis deployable scaffolding, avoiding hazardous full-height handling during setup.

2. Ensured high post-deployment load capacity to support workers during at-height operations, while allowing Z-axis compression/extension for deployment.

• Contribution :

1. Proposed foldable mechanisms and specialized joints to achieve high post-deployment structural rigidity.

2. Built prototypes from ~1:1000 scale to full-scale, performed experiments and demonstrations.

3. Four granted K.R. patents. (KR 10-2469207, KR 10-2469208, KR 10-2766730, KR 10-2886974)

2021 - 2025

Origami-inspired foldable rotor sail structure (with Hanwha Ocean Co., Ltd.)  [Link]

• Summary : 

1. Rotor sails generate Magnus-effect thrust, with taller sails benefiting from stronger winds aloft.

2. Explored an origami-inspired foldable rotor-sail that enables height reduction to pass under bridges and meet docking constraints, while preserving tall-rotor performance.

3. Validated the concept via small-scale prototyping and identified key issues for full-scale operation.

• Contribution :

1. Proposed multiple origami-linkage concepts for height reduction and designed locking mechanisms to withstand the centrifugal accelerations exceeding 90g.

2. Fabricated prototypes and performed experiments and demonstrations.

2020 - 2022

Compact multi-DOF manipulator for pupil-tracked AR-HUD  (with Samsung Electronics Co., Ltd.)  [Link]

• Summary : 

1. Explored pupil-tracked, pupil-targeted AR-HUD projection for sharp, high-resolution imagery.

2. Maintained a wide eyebox by repositioning the projected image using an origami-based compact 3-DOF parallel manipulator.

• Contribution :

1. Proposed the origami-based manipulator mechanism design.

2. Fabricated prototypes and performed experiments and demonstrations.

3. Two granted U.S. patents. (US 12,140,772 B2, US 12,422,673 B2)

2025 – Present / 2020 - 2021

Prehensile tail robot for robust cylindrical grasping (concept groundwork 2020–2021)  [Link]

• Summary : 

1. Soft prehensile tail mechanism based on a Frenet–Serret formulation for shape generation.

2. Robust cylindrical grasping via the capstan-effect–based wrapping mechanics.

• Contribution :

1. Proposed the mechanism concept (Frenet–Serret formulation).

2. Robot design and fabrication.- Analyzed capstan-effect–based wrapping mechanics.

― Leave of absence for entrepreneurship ―

2015 - 2016

Snail eye-stalk-inspired tip-growing extendable manipulator  [Link]

• Summary : 

1. Tape-measure–based, tip-growing extendable manipulator that enables forward extension and steering.

2. Developed for a manipulation task demonstration in the Robosoft Grand Challenge (2016).

• Contribution :

1. Proposed the tip-growing extendable mechanism concept (extension/steering).

2. Robot design and fabrication.

2014 - 2015

Small-scale legged climbing mechanisms using microspines  [Link]

• Summary : 

1. Microspine-based tendon-driven grasping and bi-stable perching mechanism concepts

2. Designed a slipless-turning legged crawling mechanism for climbing, compensating for left–right path-length mismatch without losing foot-tip attachment.

• Contribution :

1. Proposed a transmission concept to vary left–right leg swing radii for slipless turning.

2. Mechanisms design, fabrication, and demonstrations.

3. Poster presentation at domestic conferences in Korea (KSME 2015, KIMST 2015).

2014 - 2015

Height-adjustable jumping module for tunable energy storage and on-demand rapid release  [Link]

• Summary : 

1. One-motor jumping module using a direction-dependent passive clutch to enable tunable energy storage and instantaneous, on-demand release.

2. The passive clutch stores energy during forward motor rotation, then switches and releases it instantly when the motor is reversed at the desired timing.

• Contribution :

1. Proposed the passive clutch concept, designed the initial jumping module, and built the prototype.

2. Published in Proceedings of the 2016 IEEE ICRA (Co-author)

3. One granted K.R. patent (KR 10-1766770) and one granted U.S. patent (US 10,724,507 B2)

2014 - 2015

Jumping performance analysis in insect-inspired jumping robots  [Link]

• Summary : 

1. Performed analytical modeling and experimental validation to improve jumping performance in insect-inspired robots through two studies:

2. (A) Achieved ground-like water takeoff using a compact torque-reversal jumping mechanism with compliant legs that keeps reaction forces below the surface-tension threshold.

3. (B) Showed that appropriate leg compliance (rather than rigid legs) improves stored-energy utilization and jumping performance by reducing premature takeoff before full spring energy release.

• Contribution :

1. Modeled compliant legs using a PRBM and conducted a Lagrangian-based parameter study.

2. Robot fabrication, conducted experimental work, and performed demonstrations.

3. Published in (A) Science (Co-author) and (B) Proceedings of the 2014 IEEE/RSJ IROS (Co-author)

2013 - 2014 

Layer-based laminating fabrication method method for embedding desired spring in a small-scale robot  [Link]

• Summary : 

1. Conventional 2D patterning offers limited flexibility in designing target stiffness and neutral position.

2. Proposed embedding sheet metal in a laminate and using stamping to tune stiffness and neutral position.

• Contribution :

1. Proposed the sheet-metal–embedded laminated fabrication and stamping concept.

2. Analyzed stamped sheet metal using a PRBM and designed and conducted experiments.

3. Published in ASME J. Mech. Robot. (first author) and one granted K.R. patent (KR 10-1733572)