Research

Robust Control Theories & Applications

Control theory that stays robust under uncertainty and disturbances — from disturbance-observer (DOB) design in the H-infinity framework to robustness guarantees for learning-based control.

• Disturbance observer (DOB) design in the H-infinity framework
• Optimal / dual DOB for nonlinear and slow-fast systems; DOB-based MPC
• Disturbance-aware & Lyapunov-based reinforcement learning for robust stability
• DOB-inspired compensation of the sim-to-real gap

Intelligent Robotics

Bringing control theory to physical robots: high-performance actuation, vision-based and dual-arm manipulation, and pneumatically actuated humanoids.

• Response-improved electro-hydraulic actuation (EHA)
• Compact Bernoulli (Coanda) gripper for thin-object transport
• Vision-based & dual-arm manipulation; 3D mapping with a 2D LiDAR on a manipulator
• Pneumatic biped design, RL walking control, and gait generation

Autonomous Laboratory

Autonomous laboratories — robotic systems that synthesize materials and run chemical experiments with minimal human intervention.

• Robotic laboratory for chemistry & materials (autonomous synthesis)
• Quantum-dot thin-film process and solvent-formulation optimization
• Automated lab equipment: batch filtering, multi-functional vial processing