Search Results - "Bae, Hyoin"

Development of the Humanoid Disaster Response Platform DRC-HUBO by Jung, Taejin, Lim, Jeongsoo, Bae, Hyoin, Lee, Kang Kyu, Joe, Hyun-Min, Oh, Jun-Ho

“…This paper describes a humanoid robotics platform (DRC-HUBO+) developed for the Defense Advanced Research Projects Agency Robotics Challenge (DRC) Finals. This…”
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Robot System of DRC‐HUBO+ and Control Strategy of Team KAIST in DARPA Robotics Challenge Finals by Lim, Jeongsoo, Lee, Inho, Shim, Inwook, Jung, Hyobin, Joe, Hyun Min, Bae, Hyoin, Sim, Okkee, Oh, Jaesung, Jung, Taejin, Shin, Seunghak, Joo, Kyungdon, Kim, Mingeuk, Lee, Kangkyu, Bok, Yunsu, Choi, Dong‐Geol, Cho, Buyoun, Kim, Sungwoo, Heo, Jungwoo, Kim, Inhyeok, Lee, Jungho, Kwon, In So, Oh, Jun‐Ho

“…This paper summarizes how Team KAIST prepared for the DARPA Robotics Challenge (DRC) Finals, especially in terms of the robot system and control strategy. To…”
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Constrained Whole Body Motion Planning in Task Configuration and Time by Lee, Inho, Oh, Jaesung, Bae, HyoIn

“…Our goal in this research was to develop an efficient motion planning algorithm for a humanoid to enable it to perform complex tasks. To perform the tasks, the…”
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Biped walking stabilization based on foot placement control using capture point feedback by Hyobin Jeong, Okkee Sim, Hyoin Bae, KangKyu Lee, Jaesung Oh, Jun-Ho Oh

“…In this paper we introduce a biped foot placement controller based on capture point (CP) feedback control. This capture point feedback controller generates…”
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BLDC motor current control using filtered single DC link current based on adaptive extended Kalman filter by Jaesung Oh, Hyoin Bae, Hyobin Jeong, KangKyu Lee, Jun-Ho Oh

“…In this paper, a current control scheme for the brushless DC (BLDC) motor is proposed. In order to estimate the phase current, it employs the adaptive extended…”
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Walking-wheeling dual mode strategy for humanoid robot, DRC-HUBO by Hyoin Bae, Inho Lee, Taejin Jung, Jun-Ho Oh

“…For robots, a flexible approach is very important. Even when the robot is a humanoid, it does not have to perfectly mimic human motion. If necessary, the…”
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Biped robot state estimation using compliant inverted pendulum model by Bae, Hyoin, Oh, Jun-Ho

“…This study proposes a biped robot state estimation framework based on a compliant inverted pendulum model and a robust state estimator. A proper model that can…”
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Analytic Inverse Kinematics Considering the Joint Constraints and Self-Collision for Redundant 7DOF Manipulator by Jaesung Oh, Hyoin Bae, Jun-Ho Oh

“…This study proposes an analytic inverse kinematic solution considering joint limit and self-collision avoidance for a redundant 7DOF manipulator with spherical…”
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Inverse kinematics with strict nonholonomic constraints on mobile manipulator by KangKyu Lee, Jaesung Oh, Sim, Okkee, Hyoin Bae, Jun-Ho Oh

“…The unified approach algorithm to control a mobile robot is useful in simplifying path planning and inverse kinematics by considering a mobile platform as…”
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Novel state estimation framework for humanoid robot by Bae, Hyoin, Oh, Jun-Ho

“…This study proposes a new Kalman filter-based framework for humanoid robot state estimation. The conventional Kalman filter generates optimal estimation…”
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Low-cost indoor positioning system using BLE (bluetooth low energy) based sensor fusion with constrained extended Kalman Filter by Hyoin Bae, Jaesung Oh, KangKyu Lee, Jun-Ho Oh

“…In this paper, a BLE (Bluetooth Low Energy) based new sensor fusion algorithm is proposed. We can estimate distance by using the signal strength from the BLE…”
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Humanoid state estimation using a moving horizon estimator by Bae, Hyoin, Oh, Jun-Ho

“…In this research, a new state estimator based on moving horizon estimation theory is suggested for the humanoid robot state estimation. So far, there are…”
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Development of autonomous laser toning system based on vision recognition and robot manipulator by Jaesung Oh, Hyoin Bae, Jeongsoo Lim, Jun-Ho Oh

“…In this paper, the design, implementation, and operation method of the autonomous laser toning system are proposed, which is called as MELON (Manipulator for…”
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Biped Robot Pelvis Kinematics Estimation based on the Touch-Point Updating Method by Bae, Hyoin, Oh, Jaesung, Joe, Hyun-Min, Oh, Jun-Ho

“…This study proposes a biped-robot pelvis-kinematics estimator based on the touch-point updating method. Because the pelvis frame is used as the base coordinate…”
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Humanoid Robot COM Kinematics Estimation based on Compliant Inverted Pendulum Model and Robust State Estimator by Bae, Hyoin, Jeong, Hyobin, Oh, Jaesung, Lee, KangKyu, Oh, Jun-Ho

“…This work proposes a humanoid robot center of mass (COM) estimation framework based on the compliant inverted pendulum model and the robust estimator…”
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Implementing Full-body Torque Control in Humanoid Robot with High Gear Ratio Using Pulse Width Modulation Voltage by Lee, KangKyu, Sim, Okkee, Jeong, Hyobin, Oh, Jaesung, Bae, Hyoin, Hong, Seungwoo, Oh, Jun-Ho

“…Most state-of-the-art torque control-based legged robots show excellent performance, exceeding that of conventional position control-based robots. Many…”
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Robot System of DRC-HUBO+ and Control Strategy of Team KAIST in DARPA Robotics Challenge Finals: Robot System of DRC-HUBO+ and Control Strategy of Team KAIST by Lim, Jeongsoo, Lee, Inho, Shim, Inwook, Jung, Hyobin, Joe, Hyun Min, Bae, Hyoin, Sim, Okkee, Oh, Jaesung, Jung, Taejin, Shin, Seunghak, Joo, Kyungdon, Kim, Mingeuk, Lee, Kangkyu, Bok, Yunsu, Choi, Dong-Geol, Cho, Buyoun, Kim, Sungwoo, Heo, Jungwoo, Kim, Inhyeok, Lee, Jungho, Kwon, In So, Oh, Jun-Ho

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