Zobrazeno 1 - 10
of 160
pro vyhledávání: '"Yonghwan Oh"'
Publikováno v:
IEEE Access, Vol 11, Pp 130517-130526 (2023)
Joint velocity estimation is one of the essential properties that implement for accurate robot motion control. Although conventional approaches such as numerical differentiation of position measurements and model-based observers exhibit feasible perf
Externí odkaz:
https://doaj.org/article/1df21692d55a4d299954a055ba089fe4
Publikováno v:
Applied Sciences, Vol 10, Iss 20, p 7287 (2020)
Although previous research has improved the energy efficiency of humanoid robots to increase mobility, no study has considered the offset between hip joints to this end. Here, we optimized the offsets of hip joints in humanoid robots via the Taguchi
Externí odkaz:
https://doaj.org/article/f0f43919c56a4a56aef1aeee5dab9497
Publikováno v:
Applied Sciences, Vol 9, Iss 20, p 4339 (2019)
We have proposed a flexible sensor that can sense shear and normal forces, and can be fabricated through a simple process using only one layer of polyvinylidene fluoride (PVDF) film. For the measurement of shear and normal forces, one layer of PVDF f
Externí odkaz:
https://doaj.org/article/2834cdea847046e68d29af32b4d86fb0
Publikováno v:
Journal of Korea Robotics Society. 17:16-24
Publikováno v:
IEEE Transactions on Systems, Man, and Cybernetics: Systems. 50:4569-4586
The aim of this paper is to construct a theoretical framework for stability analysis relevant to standing balance of humanoids on top of the linear inverted pendulum model, in which their dynamics between the center of mass (CoM) and the zero moment
Publikováno v:
Robotics and Autonomous Systems. 154:104148
Publikováno v:
ICRA
This paper addresses robust landing stabilization in humanoid locomotion on uneven terrain. The core idea is to find a configuration of the robot that results in small impulsive force when an unexpected obstacle is encountered, and to adjust post-con
Autor:
Yonghwan Oh, Joonhee Jo
Publikováno v:
IROS
In this paper, we propose the stabilization strategy for a soft landing in a biped walking using impedance control and the optimization-based whole-body control framework. Even though proper contact forces and desired trajectories of the robot are gi
Publikováno v:
IROS
This paper addresses reactive generation of step time and location of biped robots for balance recovery against a severe push. Key idea is to reformulate the balance recovery problem into a tracking problem for "hybrid" inverted pendulum model of the
Autor:
Gyunghoon Park, Yonghwan Oh
Publikováno v:
ETFA
This paper addresses the balance recovery problem for biped robots in the sagittal plane, affected by an instantaneous push. It is particularly seen that, when future footsteps of the robot should be re-generated to deal with a strong push, taking th