Search Results - "Sim, Okkee"

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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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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Online Delayed Reference Generation for a Humanoid Imitating Human Walking Motion by Oh, Jaesung, Sim, Okkee, Cho, Buyoun, Lee, KangKyu, Oh, Jun-Ho

“…In this article, we propose a delayed reference generation method for a humanoid to stably imitate human walking. An admissible condition for a robust…”
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Humanoid whole-body remote-control framework with delayed reference generator for imitating human motion by Oh, Jaesung, Sim, Okkee, Jeong, Hyobin, Oh, Jun-Ho

“…In this study, a humanoid whole-body remote-control framework with a delayed reference generator for imitating human motion is proposed. The framework…”
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A robust walking controller optimizing step position and step time that exploit advantages of footed robot by Jeong, Hyobin, Lee, Inho, Sim, Okkee, Lee, KangKyu, Oh, Jun-Ho

“…This study proposes a robust humanoid step control algorithm that optimizes ground reaction force, step position and step time. Our method is focused on the…”
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Robotic software system for the disaster circumstances: System of team KAIST in the DARPA Robotics Challenge Finals by Jeongsoo Lim, Inwook Shim, Okkee Sim, Hyunmin Joe, Inhyeok Kim, Jungho Lee, Jun-Ho Oh

“…We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense Advanced Research Projects Agency…”
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Position/torque hybrid control of a rigid, high-gear ratio quadruped robot by Sim, Okkee, Jung, Taejin, Lee, Kang Kyu, Oh, Jaesung, Oh, Jun-Ho

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Collision Detection and Safe Reaction Algorithm for Non-backdrivable Manipulator with Single Force/Torque Sensor by Sim, Okkee, Oh, Jaesung, Lee, Kang Kyu, Oh, Jun-Ho

“…In this paper, we propose collision detection and safe reaction for a non-backdrivable manipulator with a base force/torque sensor. Measurement of the base…”
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Collision detection system for the practical use of the humanoid robot by Inho Lee, Kang Kyu Lee, Okkee Sim, Kim Sung Woo, Cho Buyoun, Jun-Ho Oh

“…This paper presents an efficient approach to collision detection for real time controlled humanoid robot. The proposed method is based on separating axis…”
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Dynamics based motion optimization and operational space control with an experimental rescue robot, HUBO T-100 by Seongil Hong, Youngwoo Lee, Kyu Hyun Park, Won Suk Lee, Byunghun Choi, Okkee Sim, Inhyeok Kim, Jun-Ho Oh, Youn Sik Kang

“…This paper introduces an experimental rescue robot, HUBO T-100 for a development of a Korean rescue robot with a large load carrying capacity and presents its…”
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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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Avoiding Obstacles during Push Recovery Using Real-Time Vision Feedback by Jeong, Hyobin, Kim, Joon-Ha, Sim, Okkee, Oh, Jun-Ho

“…This paper introduces an obstacle-avoiding algorithm for bipedal robots, especially in push recovery situations. Typically, There are many algorithms that plan…”
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Joint Space Position/Torque Hybrid Control of the Quadruped Robot for Locomotion and Push Reaction by Sim, Okkee, Jeong, Hyobin, Oh, Jaesung, Lee, Moonyoung, Kyu Lee, Kang, Park, Hae-Won, Oh, Jun-Ho

“…This paper proposes a novel algorithm for joint space position/torque hybrid control of a mammal-type quadruped robot. With this control algorithm, the robot…”
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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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