Robot Researches


To help robots manipulate objects easier and efficiently, we do theoretical/experimental analysis of the contact between a robot's fingers and an object. We formulate equations and use computer modeling to predict how the robot's movements will occur and enhance/control the dexterity of robots as they perform manufacturing tasks. We study the properties of robor grasp stiffness. In addition, we do the experiment and modeling of soft fingers to investigate the relationship between normal force and area of contact by considering the soft finger materials as nonlinearly elastic. Currently, the researches include "Stiffness Properties of Robot Systems", "Robot Sliding Manipulation with Friction", "Taguchi Methods in Robot Parameter Design", and "Modeling of Contact Mechanics for Anthropomorphic Soft Fingers".

Follow the links below for more information.

Please direct any questions to:

Imin Kao
Manufacturing and Automation Laboratory
Department of Mechanical Engineering
State University of New York at Stony Brook
Stony Brook, NY, 11794 Phone: (516)-632-8308
Fax: (516)-632-8544

Date revised - 11/04/98 (cn)