현낙승 연구실

"To have a great idea, you need many ideas" (Linus Pauling). I am open to discussing limitless ideas on math, control theory, robotics, and physics with students, which can only motivate each other throughout the brain-storming sessions. The goal of this project is to develop a generalizable safety-critical adaptive control framework for systems with extreme behaviors capable of leveraging the environment through strategic interactions. This project will investigate the control of a large class of flapping wing vehicles with scalable numbers of wings and with multiple actuation methods, such as controlling the abdomen, to research energy-efficient maneuver strategies. In particular, the mixture of low-level and high-level controllers takes advantage of surrounding air flow to change the control policy via optimization techniques adaptively and demonstrate agile maneuvering in the natural environment. Moving forward, the goal is to investigate the social behavior of flapping-wing vehicles by constructing a new signaling method (e.g., the pose of an individual or swarm as a message) among several teams of swarm FWVs. Many insects use latches as a mediating tool to rapidly release stored potential energy achieving remarkable impulsive behaviors (e.g., mantis shrimp strikes, grasshopper jumps). This project will further investigate the LaMSA (Latch Mediated Spring Actuation) framework that describes energy transfer from the slowly loaded spring to an impulsive change in kinetic energy, which is an essential power amplification strategy for small-scale organisms. My recent work on the generalization of controllable behavior in ultra-fast systems explores numerous directions of tunability in LaMSA systems, affecting the output performance. This research allows us to further i