1Bioinspired Agile Locomotion
Key directions
- Aerial reorientation inspired by kangaroo rats
- Morphable tails for self-righting and safe landing
- Hopping robots
Research
Pillar I
Biorobotics
Novel mechanisms and control methods that exploit the natural dynamics of the robot.
2Control of Underactuated Systems
Key directions
- Null-space avoidance for underactuated robots
- QP control of reorientation and contact forces
- Nonholonomic vehicles and rigid-body attitude control
Pillar II
Medical Technology
Built with surgeons and industry, from the lab to real clinical settings.
3Dexterous Surgical Instruments
Key directions
- Virtual fixture for safe instrument control
- Steerable drills for spine and bone surgery
- Bendable instruments for confined surgical spaces
4Surgical Autonomy
Key directions
- Surgical robot research kit
- Soft tissue manipulation
- Long-horizon surgical procedure learning