RI | People | Nak Yong Ko

Text only version of this site

Nak Yong Ko
Visiting Scientist

No longer a member of RI.

Jump to: Research interests | Labs & Groups | Projects

Research interests

My research interests are as follows:

Mobile manipulator: Manipulation of mobile manipulator includes the motion of the base as well as the manipulator. We extend the RMRC(Resolved Motion Rate Control) method to move the end effector and mobile base through trajectories specified independently.

Collision avoidance: For coordination of multiple robot motion, collision avoidance among the robots is essential as well as their cooperation. Since the robots are moving, it is important to consider the movement of other robots as well as its own. Also, as for the mobile manipulator, collision depends on the configuration of the manipulator as well as the pose of the mobile base. Since the mobile manipulators usually have redundancy, it can be used for collision avoidance.

Multiple robot cooperation: To make multiple robots work together for a specified job, communication between robots, task decomposition and assignment, failure recovery are required.

Past Labs & Groups

Reliable Autonomous Systems Lab - We are developing reliable, highly autonomous systems (especially mobile robots) that operate in rich, uncertain environments.

Past Projects

Xavier - Perceptual, reasoning and learning abilities in autonomous mobile robots