2018
|
Sanghyun Kim, Junhyung Kim, Ji-Hun Bae, Jaeheung Park Real-time Inverse Kinematics Technique for Controlling Redundant Avatar Arm Conference/Workshop Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots), Hawaii, USA, 28.06.2018. Abstract | Links @misc{Kim2018,
title = {Real-time Inverse Kinematics Technique for Controlling Redundant Avatar Arm},
author = {Sanghyun Kim and Junhyung Kim and Ji-Hun Bae and Jaeheung Park},
editor = {Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots)},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2018/07/IK_shortver-1.pdf
http://dyros.snu.ac.kr/wp-content/uploads/2018/07/Avatar최신.mp4},
year = {2018},
date = {2018-06-28},
booktitle = {Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots)},
issuetitle = {Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots)},
journal = {Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots)},
publisher = {Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots)},
address = {Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots), Hawaii, USA},
abstract = {In this paper, a preliminary study of a real-time Inverse Kinematics (IK) technique is presented to transfer human arm postures to a humanoid avatar with 7 or more DoF arm. The proposed framework is based on Forward And Backward Reaching Inverse Kinematics (FABRIK) solver which is one of heuristic iterative methods, in order to calculate joint positions. In addition, the proposed method can calculate feasible arm postures of the avatar for treating kinematic redundancy by minimizing kinetic and potential energy. Thus, the proposed method can generate human-like motions. The proposed algorithm was implemented on avatar simulator with Virtual Reality (VR) devices and its performance was demonstrated by imitating human arm motions in real-time.},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
In this paper, a preliminary study of a real-time Inverse Kinematics (IK) technique is presented to transfer human arm postures to a humanoid avatar with 7 or more DoF arm. The proposed framework is based on Forward And Backward Reaching Inverse Kinematics (FABRIK) solver which is one of heuristic iterative methods, in order to calculate joint positions. In addition, the proposed method can calculate feasible arm postures of the avatar for treating kinematic redundancy by minimizing kinetic and potential energy. Thus, the proposed method can generate human-like motions. The proposed algorithm was implemented on avatar simulator with Virtual Reality (VR) devices and its performance was demonstrated by imitating human arm motions in real-time. |
Joonwoo Ahn, Minsung Kim, Sejin Kim, Sangyup Lee, Jaeheung Park
Formation-Based Tracking Method for Human Following Robot Conference/Workshop Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots), Hawaii, USA, 27.06.2018. Abstract | Links @misc{Ahn2018,
title = {Formation-Based Tracking Method for Human Following Robot},
author = {Joonwoo Ahn and Minsung Kim and Sejin Kim and Sangyup Lee and Jaeheung Park
},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2018/07/Formation-Based-Tracking-Method-for-Human-Following-Robot-1.pdf},
year = {2018},
date = {2018-06-27},
booktitle = {Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots)},
issuetitle = {Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots)},
journal = {Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots)},
publisher = {Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots)},
address = {Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots), Hawaii, USA},
abstract = {Mobile robots are widely used in real-world applications, and the interactions between a person and a robot are important. Following a person is one of the interaction functions of mobile robots. To implement this function, most robots track the person from behind. In this case, the person experiences two inconveniences. First, the person often looks back to check whether the robot is following her or him well. Second, it is difficult to operate the robot immediately. In this study, we develop a method that helps a robot follow a person without these inconveniences. A set of candidate goal positions aredeterminedbasedonthelocationofapersonandthedensity of obstacles. These positions include a preferred location and a safe location. The robot tracks the goal position that is decided by considering obstacles around itself. This method was tested in a simulation environment. Two performance metrics were defined, and the effectiveness of this method was verified using the metrics.
},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
Mobile robots are widely used in real-world applications, and the interactions between a person and a robot are important. Following a person is one of the interaction functions of mobile robots. To implement this function, most robots track the person from behind. In this case, the person experiences two inconveniences. First, the person often looks back to check whether the robot is following her or him well. Second, it is difficult to operate the robot immediately. In this study, we develop a method that helps a robot follow a person without these inconveniences. A set of candidate goal positions aredeterminedbasedonthelocationofapersonandthedensity of obstacles. These positions include a preferred location and a safe location. The robot tracks the goal position that is decided by considering obstacles around itself. This method was tested in a simulation environment. Two performance metrics were defined, and the effectiveness of this method was verified using the metrics.
|
Beomyeong Park, Jimin Lee, Sangyup Yi, Eungui Lee, Jaeheung Park Intuitive Path Generation Platform for Multiple Robots applicable to New Media Contents Conference/Workshop 27.06.2018. Abstract | Links @misc{Park2018b,
title = {Intuitive Path Generation Platform for Multiple Robots applicable to New Media Contents},
author = {Beomyeong Park, Jimin Lee, Sangyup Yi, Eungui Lee and Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2018/07/UR-2018_Intuitive-path-generiatior-2.pdf},
year = {2018},
date = {2018-06-27},
abstract = {Industrial robots have been recently used for applications in various other fields. However industrial robot platforms are difficult to be used for an operator to create a detailed path for the robot arm to move from a starting position to a target position. Furthermore, since each platform can only operate robots of the same company, multiple platforms are needed when using robots of different companies at the same time. The suggested platform allows the operator to create robot arm path intuitively and control different types of robots. To test the proposed system, paths for multiple robots were set through the UI, and the path following performance of this platform was verified via simulation.},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
Industrial robots have been recently used for applications in various other fields. However industrial robot platforms are difficult to be used for an operator to create a detailed path for the robot arm to move from a starting position to a target position. Furthermore, since each platform can only operate robots of the same company, multiple platforms are needed when using robots of different companies at the same time. The suggested platform allows the operator to create robot arm path intuitively and control different types of robots. To test the proposed system, paths for multiple robots were set through the UI, and the path following performance of this platform was verified via simulation. |
Yisoo Lee, Jaeheung Park Reactive Bipedal Walking Method for Torque Controlled Robot Conference/Workshop 2018 International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 22.05.2018. Abstract | Links @misc{Lee2018,
title = {Reactive Bipedal Walking Method for Torque Controlled Robot},
author = {Yisoo Lee and Jaeheung Park},
url = {http://dyros.snu.ac.kr/paper/YisooLee_ICRA2018.pdf},
year = {2018},
date = {2018-05-22},
address = {2018 International Conference on Robotics and Automation (ICRA), Brisbane, Australia},
abstract = {Reactivity to unexpected situations is one of the most important characteristics of walking for real world applications. In this study, we introduce a reactive biped robot walking method that reflects only the current state of the robot. Therefore, time plan and trajectory tracking control are not required for robot walking, and this enables reactive behavior to unexpected contact or disturbance. The walking algorithm is realized through a whole-body control algorithm based on the operational space control framework, that possesses the capability to command the required force for tasks and also implement compliant task behavior by adjusting corresponding task gains. The performance of the proposed method is verified by experiments with a 12-DoF torque controlled biped robot. Robust walking is demonstrated when the foot is stopped by an unexpected obstacle or when the lateral motion is unexpectedly blocked and released by a human.},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
Reactivity to unexpected situations is one of the most important characteristics of walking for real world applications. In this study, we introduce a reactive biped robot walking method that reflects only the current state of the robot. Therefore, time plan and trajectory tracking control are not required for robot walking, and this enables reactive behavior to unexpected contact or disturbance. The walking algorithm is realized through a whole-body control algorithm based on the operational space control framework, that possesses the capability to command the required force for tasks and also implement compliant task behavior by adjusting corresponding task gains. The performance of the proposed method is verified by experiments with a 12-DoF torque controlled biped robot. Robust walking is demonstrated when the foot is stopped by an unexpected obstacle or when the lateral motion is unexpectedly blocked and released by a human. |
Mingon Kim, Jung Hoon Kim, Sanghyun Kim, Jaehoon Sim, Jaeheung Park Disturbance Observer based Linear Feedback Controller for Compliant Motion of Humanoid Robot Conference/Workshop 2018 International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 22.05.2018. Abstract | Links @misc{MG,
title = {Disturbance Observer based Linear Feedback Controller for Compliant Motion of Humanoid Robot},
author = {Mingon Kim, Jung Hoon Kim, Sanghyun Kim, Jaehoon Sim, Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2018/07/ICRA_MG-1.pdf},
year = {2018},
date = {2018-05-22},
address = {2018 International Conference on Robotics and Automation (ICRA), Brisbane, Australia},
abstract = {Actuator modules of humanoid robots have relatively higher joint elasticity than those of industrial robots.
Such joint elasticity could lead to negative effects on both the tracking performance and stability for walking. Especially,
unstable contact between the foot and ground caused by joint elasticity is a critical problem, as it decreases the stability of
position-controlled humanoid robots. To address this problem, this paper introduces a novel control scheme for positioncontrolled
humanoid robots by which we can obtain not only enhance compliance capability for unknown contact but also
suppress the vibration caused by joint elasticity. To estimate the disturbance caused by external forces and modeling errors
between the actual system and nominal system, a disturbance observer based estimator is designed at each joint. Furthermore,
a linear feedback controller for the flexible joint model and a gravity compensator is considered to reduce vibration and
deflection due to the joint elasticity. The proposed control scheme was implemented on our humanoid robot, DYROS-JET,
and its performance was demonstrated by improved stability during dynamic walking and stepping on objects.},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
Actuator modules of humanoid robots have relatively higher joint elasticity than those of industrial robots.
Such joint elasticity could lead to negative effects on both the tracking performance and stability for walking. Especially,
unstable contact between the foot and ground caused by joint elasticity is a critical problem, as it decreases the stability of
position-controlled humanoid robots. To address this problem, this paper introduces a novel control scheme for positioncontrolled
humanoid robots by which we can obtain not only enhance compliance capability for unknown contact but also
suppress the vibration caused by joint elasticity. To estimate the disturbance caused by external forces and modeling errors
between the actual system and nominal system, a disturbance observer based estimator is designed at each joint. Furthermore,
a linear feedback controller for the flexible joint model and a gravity compensator is considered to reduce vibration and
deflection due to the joint elasticity. The proposed control scheme was implemented on our humanoid robot, DYROS-JET,
and its performance was demonstrated by improved stability during dynamic walking and stepping on objects. |
Jaehoon Sim, Kim Seungyeon, Nojun Kwak, Jaeheung Park Force Trajectory Learning for Peg-in-Hole using Reinforced Learning Conference/Workshop The 33rd Institute of Control, Robotics and Systems Annual Conference (ICROS 2018), Buan, Korea, 17.05.2018. Abstract @misc{Sim2018,
title = {Force Trajectory Learning for Peg-in-Hole using Reinforced Learning},
author = {Jaehoon Sim and Kim Seungyeon and Nojun Kwak and Jaeheung Park},
editor = {The 33rd Institute of Control, Robotics and Systems Annual Conference (ICROS 2018), Buan, Korea},
year = {2018},
date = {2018-05-17},
booktitle = {The 33rd Institute of Control, Robotics and Systems Annual Conference (ICROS 2018)},
issuetitle = {The 33rd Institute of Control, Robotics and Systems Annual Conference (ICROS 2018)},
journal = {The 33rd Institute of Control, Robotics and Systems Annual Conference (ICROS 2018)},
publisher = {The 33rd Institute of Control, Robotics and Systems (ICROS)},
address = {The 33rd Institute of Control, Robotics and Systems Annual Conference (ICROS 2018), Buan, Korea},
abstract = {Automatic trajectory generation is a key technology for industrial and service robots. Creating a trajectory automatically without any direct human training on the new task is helpful. Reinforced learning, one of the machine learning methods that have recently been attracted to the development of computer performance, is easy to learn when there is clear compensation like peg-in-hole task. We use the reinforced learning method to create a force trajectory for performing a peg-in-hole operation of the simple manipulator.},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
Automatic trajectory generation is a key technology for industrial and service robots. Creating a trajectory automatically without any direct human training on the new task is helpful. Reinforced learning, one of the machine learning methods that have recently been attracted to the development of computer performance, is easy to learn when there is clear compensation like peg-in-hole task. We use the reinforced learning method to create a force trajectory for performing a peg-in-hole operation of the simple manipulator. |
Cho Hyunbum, Choi Wonje, Kim Joowan, Park Jaeheung Performance Evaluation of Lumbar Stabilization Exercise Robot Considering Body Load Conference/Workshop The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea, 22.01.2018. @misc{Hyunbum2018,
title = {Performance Evaluation of Lumbar Stabilization Exercise Robot Considering Body Load},
author = {Cho Hyunbum and Choi Wonje and Kim Joowan and Park Jaeheung},
editor = {The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea},
year = {2018},
date = {2018-01-22},
address = {The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Park Suhan, Lee Jimin, Park Jaeheung Robust calibration of spinning 2D LiDAR extrinsic parameters Conference/Workshop The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea, 22.01.2018. @misc{Suhan2018,
title = {Robust calibration of spinning 2D LiDAR extrinsic parameters},
author = {Park Suhan and Lee Jimin and Park Jaeheung},
year = {2018},
date = {2018-01-22},
address = {The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Kim Donghyeon, Park Chanwook, Lee Sangyup, Park Suhan, Park Jaeheung (Ed.) Development of Remote Control User Interface for Humanoid Using Android Application Conference/Workshop The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea, 22.01.2018. @misc{Donghyeon2018,
title = {Development of Remote Control User Interface for Humanoid Using Android Application},
editor = {Kim Donghyeon and Park Chanwook and Lee Sangyup and Park Suhan and Park Jaeheung},
year = {2018},
date = {2018-01-22},
address = {The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Kim Min-Sung, Ahn Joon-Woo, Park Jaeheung A comparative study on the steering controller for autonomous parking Conference/Workshop The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea, 22.01.2018. @misc{Min-Sung2018,
title = {A comparative study on the steering controller for autonomous parking},
author = {Kim Min-Sung and Ahn Joon-Woo and Park Jaeheung},
year = {2018},
date = {2018-01-22},
address = {The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Kim Seungyeon, Park Jaeheung Positioning virtual actuator for index finger musculoskeletal model Conference/Workshop The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea, 22.01.2018. @misc{Seungyeon2018,
title = {Positioning virtual actuator for index finger musculoskeletal model},
author = {Kim Seungyeon and Park Jaeheung},
year = {2018},
date = {2018-01-22},
address = {The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Soonwook Hwang, Jaehoon Sim, Jaesug Jung, Jaeheung Park Performance Analysis of Position Tracking in Current-Based Torque Control Considering Motor Inertia Conference/Workshop The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea, 22.01.2018. @misc{Hwanga2018,
title = {Performance Analysis of Position Tracking in Current-Based Torque Control Considering Motor Inertia},
author = {Soonwook Hwang and Jaehoon Sim and Jaesug Jung and Jaeheung Park},
year = {2018},
date = {2018-01-22},
address = {The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Beomyeong Park, Jaeheung Park Selection method of inverse kinematics solution for continuous robot arm motion Conference/Workshop The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea, 22.01.2018. @misc{Park2018,
title = {Selection method of inverse kinematics solution for continuous robot arm motion},
author = {Beomyeong Park and Jaeheung Park},
year = {2018},
date = {2018-01-22},
address = {The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2017
|
Jaeheung Park, Yisoo Lee, Mingon Kim, Soonwook Hwang, Jaesug Jung, Junhyung Kim Human-Assisted Humanoid Robot Control Conference/Workshop Forthcoming International Symposium on Robotics Research(ISRR), Puerto Varas, Chile, 11.12.2017. @misc{Park2017,
title = {Human-Assisted Humanoid Robot Control},
author = {Jaeheung Park and Yisoo Lee and Mingon Kim and Soonwook Hwang and Jaesug Jung and Junhyung Kim },
editor = {International Symposium on Robotics Research(ISRR), Puerto Varas, Chile},
year = {2017},
date = {2017-12-11},
address = {International Symposium on Robotics Research(ISRR), Puerto Varas, Chile},
keywords = {},
pubstate = {forthcoming},
tppubtype = {presentation}
}
|
Jaesug Jung, Soonwook Hwang, Yisoo Lee, Jaehoon Sim, Jaeheung Park Analysis of Position Tracking in Torque Control of Humanoid Robots Considering Joint Elasticity and Time Delay Conference/Workshop IEEE-RAS International Conference on Humanoid Robots, 17.11.2017. Abstract | Links @misc{Jung2017b,
title = {Analysis of Position Tracking in Torque Control of Humanoid Robots Considering Joint Elasticity and Time Delay},
author = {Jaesug Jung, Soonwook Hwang, Yisoo Lee, Jaehoon Sim, Jaeheung Park},
url = {http://dyros.snu.ac.kr/paper/humanoids-2017-jj.pdf},
year = {2017},
date = {2017-11-17},
address = {IEEE-RAS International Conference on Humanoid Robots},
abstract = {This study investigates the position tracking performance
of torque controlled humanoid robots in the presence
of joint elasticity and time delay in torque command. One of the
main purposes using torque control for humanoid robots is to
achieve compliant behaviors on uncertain external disturbance
such as uneven terrain and interaction with human. On the
other hand, high performance of position tracking is also
required to implement motion control of robots. In this study,
the effects of joint elasticity and time delay in torque command
area investigated in terms of position tracking. First, a joint
model is derived and validated, which reflects the elasticity
and time delay. Frequency response analysis is exploited to
theoretically evaluate the performance of the control system for
position tracking. This joint model with the elasticity and time
delay is used to estimate the limitations in the controller design
for our torque controlled humanoid robot. Theoretical analysis
and its comparison with experimental results demonstrate that
the joint elasticity and time delay significantly affect the system
performance.},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
This study investigates the position tracking performance
of torque controlled humanoid robots in the presence
of joint elasticity and time delay in torque command. One of the
main purposes using torque control for humanoid robots is to
achieve compliant behaviors on uncertain external disturbance
such as uneven terrain and interaction with human. On the
other hand, high performance of position tracking is also
required to implement motion control of robots. In this study,
the effects of joint elasticity and time delay in torque command
area investigated in terms of position tracking. First, a joint
model is derived and validated, which reflects the elasticity
and time delay. Frequency response analysis is exploited to
theoretically evaluate the performance of the control system for
position tracking. This joint model with the elasticity and time
delay is used to estimate the limitations in the controller design
for our torque controlled humanoid robot. Theoretical analysis
and its comparison with experimental results demonstrate that
the joint elasticity and time delay significantly affect the system
performance. |
Keunwoo Jang, Sanghyun Kim, Suhan Park, Jaeheung Park Joint limit avoidance of non-holonomic mobile manipulator using weighting matrix in generalized pseudo-inverse Conference/Workshop 한국정밀공학회 2017년도 추계학술대회논문집, 11.11.2017. Abstract @misc{Jang2017,
title = {Joint limit avoidance of non-holonomic mobile manipulator using weighting matrix in generalized pseudo-inverse},
author = {Keunwoo Jang, Sanghyun Kim, Suhan Park, Jaeheung Park},
editor = {모바일 매니퓰레이터는 매니퓰레이터와 바퀴나 다리가 달린 이동 로봇이 결합된 로봇으로 매니퓰레이터가 가진 조작성과 이동 로봇이 가진 이동성을 동시에 가지고 있다. 이러한 장점으로 모바일 매니퓰레이터는 기존의 목표 위치 경로를 추종하는 작업에 필요한 자유도 이외에 여유자유도를 활용하여 로봇의 제한 조건을 회피하면서 작업을 수행할 수 있다. 따라서 본 논문에서는 여유자유도를 활용하여 매니퓰레이터의 관절 제한을 회피하면서 목표 경로를 추종하는 관절의 움직임을 생성하여 제어하였다. 관절 속도는 가중 행렬을 반영한 모바일 매니퓰레이터 전체 자코비안 행렬의 의사 역행렬을 통해 구하였다. 가중 행렬을 구성하기 위해 매니퓰레이터 각 관절의 상한치, 하한치와 현재 관절 값을 반영한 전위 함수를 도입하였고, 관절 값 변화에 따른 전위 함수의 구배(gradient) 값을 통해 가중 행렬에 가중치를 대입하였다. 관절 제한 회피에 대한 검증은 시뮬레이션 환경에서 비홀로노믹(non-holonomic) 특성을 가진 모바일 매니퓰레이터의 관절 값을 확인하여 실시하였다. },
year = {2017},
date = {2017-11-11},
address = {한국정밀공학회 2017년도 추계학술대회논문집},
abstract = {모바일 매니퓰레이터는 매니퓰레이터와 바퀴나 다리가 달린 이동 로봇이 결합된 로봇으로 매니퓰레이터가 가진 조작성과 이동 로봇이 가진 이동성을 동시에 가지고 있다. 이러한 장점으로 모바일 매니퓰레이터는 기존의 목표 위치 경로를 추종하는 작업에 필요한 자유도 이외에 여유자유도를 활용하여 로봇의 제한 조건을 회피하면서 작업을 수행할 수 있다. 따라서 본 논문에서는 여유자유도를 활용하여 매니퓰레이터의 관절 제한을 회피하면서 목표 경로를 추종하는 관절의 움직임을 생성하여 제어하였다. 관절 속도는 가중 행렬을 반영한 모바일 매니퓰레이터 전체 자코비안 행렬의 의사 역행렬을 통해 구하였다. 가중 행렬을 구성하기 위해 매니퓰레이터 각 관절의 상한치, 하한치와 현재 관절 값을 반영한 전위 함수를 도입하였고, 관절 값 변화에 따른 전위 함수의 구배(gradient) 값을 통해 가중 행렬에 가중치를 대입하였다. 관절 제한 회피에 대한 검증은 시뮬레이션 환경에서 비홀로노믹(non-holonomic) 특성을 가진 모바일 매니퓰레이터의 관절 값을 확인하여 실시하였다. },
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
모바일 매니퓰레이터는 매니퓰레이터와 바퀴나 다리가 달린 이동 로봇이 결합된 로봇으로 매니퓰레이터가 가진 조작성과 이동 로봇이 가진 이동성을 동시에 가지고 있다. 이러한 장점으로 모바일 매니퓰레이터는 기존의 목표 위치 경로를 추종하는 작업에 필요한 자유도 이외에 여유자유도를 활용하여 로봇의 제한 조건을 회피하면서 작업을 수행할 수 있다. 따라서 본 논문에서는 여유자유도를 활용하여 매니퓰레이터의 관절 제한을 회피하면서 목표 경로를 추종하는 관절의 움직임을 생성하여 제어하였다. 관절 속도는 가중 행렬을 반영한 모바일 매니퓰레이터 전체 자코비안 행렬의 의사 역행렬을 통해 구하였다. 가중 행렬을 구성하기 위해 매니퓰레이터 각 관절의 상한치, 하한치와 현재 관절 값을 반영한 전위 함수를 도입하였고, 관절 값 변화에 따른 전위 함수의 구배(gradient) 값을 통해 가중 행렬에 가중치를 대입하였다. 관절 제한 회피에 대한 검증은 시뮬레이션 환경에서 비홀로노믹(non-holonomic) 특성을 가진 모바일 매니퓰레이터의 관절 값을 확인하여 실시하였다. |
Wonje Choi, Jaeheung Park Controller Tuning Strategy of Series Elastic Actuator for Reducing Impedance Conference/Workshop The 14th International Conference on Control, Automation and Systems (ICCAS), Jeju, Korea, 20.10.2017. Abstract @misc{Choi2017b,
title = {Controller Tuning Strategy of Series Elastic Actuator for Reducing Impedance},
author = {Wonje Choi and Jaeheung Park},
editor = {The 14th International Conference on Control, Automation and Systems (ICCAS), Jeju, Korea},
year = {2017},
date = {2017-10-20},
address = {The 14th International Conference on Control, Automation and Systems (ICCAS), Jeju, Korea},
abstract = {To be uploaded},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Jaeheung Park Compliant Whole-Body Control Based on Operational Space Control Framework Conference/Workshop Stanford University , 22.09.2017. @misc{Park2017b,
title = {Compliant Whole-Body Control Based on Operational Space Control Framework},
author = {Jaeheung Park},
year = {2017},
date = {2017-09-22},
address = {Stanford University },
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Jaeheung Park, Compliant Whole-bodt Control for Humanoid Robots Conference/Workshop CLAWAR2017, 11.09.2017. Abstract @misc{Park2017b,
title = {Compliant Whole-bodt Control for Humanoid Robots},
author = {Jaeheung Park,},
year = {2017},
date = {2017-09-11},
address = {CLAWAR2017},
abstract = {When humanoid robots are operated in a human environment, multiple contacts with the environment or human are often required. In these situations, compliant motion control can be very effective in dealing with contact uncertainties. In this talk, our recent research on compliant whole-body motion control of humanoid robots will be presented. First, I would like to start with our experience of DARPA robotics challenge, where the importance of compliant motion control in multi-contact situations is motivated among many other important technologies. For example, during door and drill mission. After the competition, much effort has been made to realize compliant motion control of humanoids, using two different platforms: position-controlled robot and torque-controlled robot. I would like to present our recent results in implementing compliant motion using our humanoid robots. Future perspectives in these directions can be seen through experimental demonstrations. Finally, other exciting work in our research group will be presented in relation to humanoid technologies, such as an autonomous vehicle, robotic hand, rehabilitation device for back pain, and CPR robot.},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
When humanoid robots are operated in a human environment, multiple contacts with the environment or human are often required. In these situations, compliant motion control can be very effective in dealing with contact uncertainties. In this talk, our recent research on compliant whole-body motion control of humanoid robots will be presented. First, I would like to start with our experience of DARPA robotics challenge, where the importance of compliant motion control in multi-contact situations is motivated among many other important technologies. For example, during door and drill mission. After the competition, much effort has been made to realize compliant motion control of humanoids, using two different platforms: position-controlled robot and torque-controlled robot. I would like to present our recent results in implementing compliant motion using our humanoid robots. Future perspectives in these directions can be seen through experimental demonstrations. Finally, other exciting work in our research group will be presented in relation to humanoid technologies, such as an autonomous vehicle, robotic hand, rehabilitation device for back pain, and CPR robot. |
SeungMin Lee, Beomyeong Park, Jaeheung Park Foot Angle Determination for Efficient Heel-Toe Walking Conference/Workshop The 14th International Conference on Ubiquitous Robots and Ambient Intelligene (URAI), Jeju, Korea, 28.07.2017. Abstract | Links @misc{Lee2017b,
title = {Foot Angle Determination for Efficient Heel-Toe Walking},
author = {SeungMin Lee and Beomyeong Park and Jaeheung Park},
editor = {The 14th International Conference on Ubiquitous Robots and Ambient Intelligene (URAI), Jeju, Korea},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2017/07/FINAL-URAI17-212-1.pdf},
year = {2017},
date = {2017-07-28},
address = {The 14th International Conference on Ubiquitous Robots and Ambient Intelligene (URAI), Jeju, Korea},
abstract = {Heel-toe walking can increase the stride length within the same joint limit of the robot. This paper proposes a method to compute the foot angle for heel-toe walking. In heeltoe walking, the value of the foot angle influences the movement of the legs, so it is proposed to select the foot angle to minimize the movement of the legs. The changes in stride and movement of leg with or without the heel-toe walking using the proposed foot angle is analyzed. The proposed aproach is demonstrated through experiments},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
Heel-toe walking can increase the stride length within the same joint limit of the robot. This paper proposes a method to compute the foot angle for heel-toe walking. In heeltoe walking, the value of the foot angle influences the movement of the legs, so it is proposed to select the foot angle to minimize the movement of the legs. The changes in stride and movement of leg with or without the heel-toe walking using the proposed foot angle is analyzed. The proposed aproach is demonstrated through experiments |
Hyeonjun Park, Jaeheung Park, Dong-Hyuk Lee, Young-Jin Kim, Myoung-Su Choi, Ji-Hun Bae, Jae-Han Park, Yong-Deuk Shin, Ga-Ram Jang, Moon-Hong Baeg Object Manipulation with Whole Hand-Arm Systems Conference/Workshop Global Conference on Engineering and Applied Science, Okinawa, Japan, 27.07.2017. Links @misc{pionyb,
title = {Object Manipulation with Whole Hand-Arm Systems},
author = {Hyeonjun Park, Jaeheung Park, Dong-Hyuk Lee, Young-Jin Kim, Myoung-Su Choi, Ji-Hun Bae, Jae-Han Park, Yong-Deuk Shin, Ga-Ram Jang and Moon-Hong Baeg},
editor = {Global Conference on Engineering and Applied Science, July, Okinawa, Japan},
url = {http://www.gceas-conf.org/site/page.aspx?pid=12&sid=6024&lang=en},
year = {2017},
date = {2017-07-27},
address = {Global Conference on Engineering and Applied Science, Okinawa, Japan},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Jimin Lee, Suhan Park, Jaeheung Park Development of Traversability Costmap and Path Planning using Terrain Condition and Robot Footprint Conference/Workshop The 12th Korea Robotics Society Annual Conference (KROC), Pyeongchang, Korea, 02.07.2017. Links @misc{JiminKROC2017,
title = {Development of Traversability Costmap and Path Planning using Terrain Condition and Robot Footprint},
author = {Jimin Lee, Suhan Park, Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2017/02/KROC_2017_JiminLee.pdf},
year = {2017},
date = {2017-07-02},
address = {The 12th Korea Robotics Society Annual Conference (KROC), Pyeongchang, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Wonje Choi, Jongseok Won, Hyunbum Cho, Jaeheung Park A Rehabilitation Exercise Robot for Treating Low Back Pain Conference/Workshop IEEE International Conference on Robotics and Automation 2017, 29.05.2017. @misc{Choi2017,
title = {A Rehabilitation Exercise Robot for Treating Low Back Pain},
author = {Wonje Choi, Jongseok Won, Hyunbum Cho, Jaeheung Park},
year = {2017},
date = {2017-05-29},
address = {IEEE International Conference on Robotics and Automation 2017},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2016
|
Jeeseop Kim, Mingon Kim, Jaeheung Park Improvement of Humanoid Walking Control by Compensating Actuator Elasticity Conference/Workshop 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016),Cancun, Mexico, , 15.11.2016. Links @misc{Kim2016b,
title = {Improvement of Humanoid Walking Control by Compensating Actuator Elasticity},
author = {Jeeseop Kim and Mingon Kim and Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2017/01/ICHR_2016_JS.pdf, Paper},
year = {2016},
date = {2016-11-15},
howpublished = {2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016),Cancun, Mexico},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Jaeheung Park Synthesis and control approach for human-like motions Conference/Workshop Invited speaker at Workshop on “Human Movement Understanding and Robotics”, IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), Deajeon, Korea, 09.10.2016. @misc{Park2016,
title = {Synthesis and control approach for human-like motions},
author = {Jaeheung Park},
year = {2016},
date = {2016-10-09},
address = {Invited speaker at Workshop on “Human Movement Understanding and Robotics”, IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), Deajeon, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Seho Shin, Joonwoo Ahn, Jaeheung Park
Desired Orientation RRT (DO-RRT) for Autonomous Vehicle in Narrow Cluttered Spaces Conference/Workshop IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), Deajeon, Korea, 09.10.2016. Links @misc{Shin2016b,
title = {Desired Orientation RRT (DO-RRT) for Autonomous Vehicle in Narrow Cluttered Spaces},
author = {Seho Shin and Joonwoo Ahn and Jaeheung Park
},
url = {http://dyros.cafe24.com/paper/iros2016_sh.pdf, Paper},
year = {2016},
date = {2016-10-09},
address = {IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), Deajeon, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Jaesug Jung, Jeeseop Kim, Sanghyun Kim, Woonyong Kwon, Sanghoon Na, Kyungsu Kim, Giljoon Suh, Byeongwook Yoo, Jinwoo Choi, Jungchan Lee, Jaeheung Park Application of Robot Manipulator for Cardiopulmonary Resuscitation. Conference/Workshop International Symposium on Experimental Robotics, 06.10.2016. Links @misc{Jung2016,
title = {Application of Robot Manipulator for Cardiopulmonary Resuscitation.},
author = {Jaesug Jung and Jeeseop Kim and Sanghyun Kim and Woonyong Kwon and Sanghoon Na and Kyungsu Kim and Giljoon Suh and Byeongwook Yoo and Jinwoo Choi and Jungchan Lee and Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2017/01/ISER_2016.pdf, paper},
year = {2016},
date = {2016-10-06},
address = {International Symposium on Experimental Robotics},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
MingonKim, Sanghyun Kim, Jaeheung Park Human Motion Imitation for Humanoid by Recurrent Neural Network Conference/Workshop The 13th International Conference on Ubiquitous Robots and Ambient Intelligene (URAI), Xian, China, 22.08.2016. Links @misc{MingonKim2016,
title = {Human Motion Imitation for Humanoid by Recurrent Neural Network},
author = {MingonKim and Sanghyun Kim and Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2013/05/URAI_Deeplearning.pdf, paper},
year = {2016},
date = {2016-08-22},
address = {The 13th International Conference on Ubiquitous Robots and Ambient Intelligene (URAI), Xian, China},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Minsung Kim, Seho Shin, Jaeheung Park Study on Vehicle Lateral Control for Backward Driving Conference/Workshop The 13th International Conference on Ubiquitous Robots and Ambient Intelligene (URAI), Xian, China, 22.08.2016. Links @misc{Kim2016b,
title = {Study on Vehicle Lateral Control for Backward Driving},
author = {Minsung Kim and Seho Shin and Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2013/05/URAI_2016_minsungkim_PS1-09.pdf, paper},
year = {2016},
date = {2016-08-22},
address = {The 13th International Conference on Ubiquitous Robots and Ambient Intelligene (URAI), Xian, China},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Jeeseop Kim, Mingon Kim, Jaeheung Park Improvement of Humanoid gait stability using reduction gear deformation model Conference/Workshop The 31st Institute of Control, Robotics and Systems (ICROS), COEX, Korea, Best Paper Award, 11.03.2016. Links @misc{Kim2016b,
title = {Improvement of Humanoid gait stability using reduction gear deformation model},
author = {Jeeseop Kim and Mingon Kim and Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2016/07/KakaoTalk_20171110_113129339-300x225.jpghttp://dyros.snu.ac.kr/wp-content/uploads/2013/05/ICROS_2016_JS_제출본.pdf, paper
http://dyros.snu.ac.kr/wp-content/uploads/2013/05/KakaoTalk_20160715_145825207.jpg, Best Paper Award},
year = {2016},
date = {2016-03-11},
address = {The 31st Institute of Control, Robotics and Systems (ICROS), COEX, Korea, Best Paper Award},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Joohee Choi, Seho Shin, Jaeheung Park Extended Evidential Grid map in Dynamic Environments for an Autonomous Parking System Conference/Workshop The 31st Institute of Control, Robotics and Systems (ICROS), COEX, Korea, 11.03.2016. Abstract @misc{Choi2016b,
title = {Extended Evidential Grid map in Dynamic Environments for an Autonomous Parking System},
author = {Joohee Choi and Seho Shin and Jaeheung Park},
year = {2016},
date = {2016-03-11},
address = {The 31st Institute of Control, Robotics and Systems (ICROS), COEX, Korea},
abstract = {http://dyros.cafe24.com/paper/icros2016_JH.pdf, paper},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
http://dyros.cafe24.com/paper/icros2016_JH.pdf, paper |
Wonje Choi, Jaeheung Park Low Stiffness SEA Design for Use in Rehabilitation Robots for Active Exercises Conference/Workshop International Conference on Robotics and Automation (Workshop), Stockholm, Sweden, 11.03.2016. Links @misc{Choi2016b,
title = {Low Stiffness SEA Design for Use in Rehabilitation Robots for Active Exercises},
author = {Wonje Choi and Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2013/05/ICRA2016_Workshop_Low_Stiffness_SEA_Design_for_Use_in_Rehabilitation_Robots_for_Active_Exercises_Revision_Final.pdf, paper},
year = {2016},
date = {2016-03-11},
address = {International Conference on Robotics and Automation (Workshop), Stockholm, Sweden},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Seho Shin, Joohee Choi, Jaeheung Park Development of Indoor-Outdoor Localization System using Multiple Model Adaptive Estimation for Autonomous Vehicle Conference/Workshop Forthcoming 26.01.2016. @misc{Shin2016b,
title = {Development of Indoor-Outdoor Localization System using Multiple Model Adaptive Estimation for Autonomous Vehicle},
author = {Seho Shin and Joohee Choi and Jaeheung Park},
editor = {The 11th Korea Robotics Society Annual Conference (KROC), Pyeongchang, Korea},
year = {2016},
date = {2016-01-26},
keywords = {},
pubstate = {forthcoming},
tppubtype = {presentation}
}
|
Seho Shin, Joohee Choi, Jaeheung Park Development of Indoor-Outdoor Localization System using Multiple Model Adaptive Estimation for Autonomous Vehicle Conference/Workshop The 11th Korea Robotics Society Annual Conference (KROC), Pyeongchang, Korea, 24.01.2016. Links @misc{Shin2016b,
title = {Development of Indoor-Outdoor Localization System using Multiple Model Adaptive Estimation for Autonomous Vehicle},
author = {Seho Shin and Joohee Choi and Jaeheung Park},
url = {http://dyros.cafe24.com/paper/kroc2016.pdf, paper},
year = {2016},
date = {2016-01-24},
address = {The 11th Korea Robotics Society Annual Conference (KROC), Pyeongchang, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2015
|
Sanghyun Kim, Mingon Kim, Jimin Lee, Soonwook Hwang, Joonbo Chae, Beomyeong Park, Hyunbum Cho, Jaehoon Sim, Jaesug Jung, Hosang Lee, Seho Shin, Minsung Kim, Nojun Kwak, Youngjin Lee, Sangkuk Lee, Myunggi Lee, Sang Yup Yi, Kyong-Sok K.C. Chang, Jaeheung Park Approach of Team SNU to the DARPA Robotics Challenge Finals Conference/Workshop 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), KIST, Korea, 05.11.2015. Links @misc{Kim2015b,
title = {Approach of Team SNU to the DARPA Robotics Challenge Finals},
author = {Sanghyun Kim and Mingon Kim and Jimin Lee and Soonwook Hwang and Joonbo Chae and Beomyeong Park and Hyunbum Cho and Jaehoon Sim and Jaesug Jung and Hosang Lee and Seho Shin and Minsung Kim and Nojun Kwak and Youngjin Lee and Sangkuk Lee and Myunggi Lee and Sang Yup Yi and Kyong-Sok K.C. Chang and Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2013/05/ICHR_DRC.pdf, paper},
year = {2015},
date = {2015-11-05},
address = {2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), KIST, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Sanghyun Kim, Jaeheung Park
Control Strategies of Team SNU for DRC Finals, and Future Directions for Robots in Human Environment Conference/Workshop Invited speaker at Workshop on “What did we do for the Darpa Robotics Challenge?”, 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), KIST, 03.11.2015. @misc{Kim2015b,
title = {Control Strategies of Team SNU for DRC Finals, and Future Directions for Robots in Human Environment},
author = {Sanghyun Kim and Jaeheung Park
},
year = {2015},
date = {2015-11-03},
address = {Invited speaker at Workshop on “What did we do for the Darpa Robotics Challenge?”, 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), KIST},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Jaeheung Park Balancing and Active Sensing using Whole-Body Control framework Conference/Workshop Invited speaker at Workshop on “Whole-Body Multi-Task Multi-Contact Humanoid Control”, 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), KIST, 03.11.2015. @misc{Park2015b,
title = {Balancing and Active Sensing using Whole-Body Control framework},
author = {Jaeheung Park},
year = {2015},
date = {2015-11-03},
address = {Invited speaker at Workshop on “Whole-Body Multi-Task Multi-Contact Humanoid Control”, 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), KIST},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Jaeheung Park Active sensing strategies for contact using constraints between the robot and environment Conference/Workshop Invited speaker at Workshop on “Proprioceptive and Exteroceptive Data Fusion for State Estimation and Whole-Body Control of Humanoid Robots”, 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), KIST, 03.11.2015. @misc{Park2015b,
title = {Active sensing strategies for contact using constraints between the robot and environment},
author = {Jaeheung Park},
year = {2015},
date = {2015-11-03},
address = {Invited speaker at Workshop on “Proprioceptive and Exteroceptive Data Fusion for State Estimation and Whole-Body Control of Humanoid Robots”, 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), KIST},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Beomyeong Park and Hyunbum Cho, Wonjae Choi and Jaeheung Park Wall Cutting Strategy for Circular Hole Using Humanoid Robot Conference/Workshop The 12th International Conference on Ubiquitous Robots and Ambient Intelligene (URAI), KINTEX, Korea, 30.10.2015. Links @misc{and HyunbumCho2015,
title = {Wall Cutting Strategy for Circular Hole Using Humanoid Robot},
author = {Beomyeong Park and Hyunbum Cho and Wonjae Choi and Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2013/05/URAI15-194.pdf, paper},
year = {2015},
date = {2015-10-30},
address = {The 12th International Conference on Ubiquitous Robots and Ambient Intelligene (URAI), KINTEX, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Jaeheung Park Control Strategies of Team SNU for DRC Finals, and Future Directions for Robots in Human Environment Conference/Workshop Invited speaker at Workshop on “Special Workshop on DRC finals”, The 12th International Conference on Ubiquitous Robots and Ambient Intelligene (URAI), KINTEX, Korea, 30.10.2015. @misc{Park2015b,
title = {Control Strategies of Team SNU for DRC Finals, and Future Directions for Robots in Human Environment},
author = {Jaeheung Park},
year = {2015},
date = {2015-10-30},
address = {Invited speaker at Workshop on “Special Workshop on DRC finals”, The 12th International Conference on Ubiquitous Robots and Ambient Intelligene (URAI), KINTEX, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Mincheol Kim, Romain Destenay, Sanghyun Kim, Joungheum Kwon, Kiwon Yeom, Jaeheung Park, Bum-jae You Avatar Motion Generation by Null-Space Mapping Based on Minimum Number of Markers Conference/Workshop 2015 Conference on Information and Control Systems (CICS’ 15), Sokcho, Korea, 24.10.2015. Links @misc{Kim2015b,
title = {Avatar Motion Generation by Null-Space Mapping Based on Minimum Number of Markers},
author = {Mincheol Kim and Romain Destenay and Sanghyun Kim and Joungheum Kwon and Kiwon Yeom and Jaeheung Park and Bum-jae You},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2013/05/CICS15.pdf, paper},
year = {2015},
date = {2015-10-24},
address = {2015 Conference on Information and Control Systems (CICS’ 15), Sokcho, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Jaeheung Park Active sensing strategies for contact using constraints between the robot and environment Conference/Workshop Invited speaker at Workshop on “multimodal sensor-based robot control for HRI and soft manipulation”, International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28.09.2015. @misc{Park2015b,
title = {Active sensing strategies for contact using constraints between the robot and environment},
author = {Jaeheung Park},
year = {2015},
date = {2015-09-28},
address = {Invited speaker at Workshop on “multimodal sensor-based robot control for HRI and soft manipulation”, International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Hyeonjun Park, Peter ki Kim, Ga-Ram Jang, Yong-Deuk Shin, Sung-Nam Oh, Ji-Hun Bae, Jae-Han Park, Moon-Hong Baeg, Jaeheung Park Compliance-based Control System of Humanoid Upper Body Robot : Objects Assembly Task Conference/Workshop The 10th Korea Robotics Society Annual Conference (KROC), Daejeon, Korea, 08.05.2015. Links @misc{Park2015b,
title = {Compliance-based Control System of Humanoid Upper Body Robot : Objects Assembly Task},
author = {Hyeonjun Park and Peter ki Kim and Ga-Ram Jang and Yong-Deuk Shin and Sung-Nam Oh and Ji-Hun Bae and Jae-Han Park and Moon-Hong Baeg and Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2015/05/kros2015_hyeonjun.pdf, paper},
year = {2015},
date = {2015-05-08},
address = {The 10th Korea Robotics Society Annual Conference (KROC), Daejeon, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2014
|
Seho Shin, Minsung Kim, Jaeheung Park Collision-Free Motion Planning based on Elastic Band Theory for Autonomous Driving. Conference/Workshop The Korean Society of Automotive Engineers Annual Conference (KSAE), 22.11.2014. @misc{Shin2014,
title = {Collision-Free Motion Planning based on Elastic Band Theory for Autonomous Driving.},
author = {Seho Shin and Minsung Kim and Jaeheung Park},
year = {2014},
date = {2014-11-22},
address = {The Korean Society of Automotive Engineers Annual Conference (KSAE)},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Mathew Schwartz, Soonwook Hwang, Yisoo Lee, Jongseok Won, Sanghyun Kim, Jaeheung Park Aesthetic Design and Development of Humanoid Legged Robot. Conference/Workshop The 2014 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014), Madrid, Spain, 20.11.2014. Links @misc{Schwartz2014,
title = {Aesthetic Design and Development of Humanoid Legged Robot.},
author = {Mathew Schwartz and Soonwook Hwang and Yisoo Lee and Jongseok Won and Sanghyun Kim and Jaeheung Park},
url = {http://ieeexplore.ieee.org/document/7041311/?arnumber=7041311, paper},
year = {2014},
date = {2014-11-20},
address = {The 2014 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014), Madrid, Spain},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Mathew Schwartz, R. Frias, E. Dolgener Cantu, G. Stoffel Saul, Jaeheung Park Humanoids ‘Performing’ Manufacturing. Conference/Workshop in Proceedings of the 2014 Workshop on Humanoid Robots and Creativity at the 2014 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014), Madrid, Spain, 18.11.2014. Links @misc{Schwartz2014b,
title = {Humanoids ‘Performing’ Manufacturing.},
author = {Mathew Schwartz and R. Frias and E. Dolgener Cantu and G. Stoffel Saul and Jaeheung Park},
url = {http://dyros.cafe24.com/paper/Schwartzetal_2014.pdf, paper},
year = {2014},
date = {2014-11-18},
address = {in Proceedings of the 2014 Workshop on Humanoid Robots and Creativity at the 2014 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014), Madrid, Spain},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Hyeonjun Park, Peter ki Kim, Ji-Hun Bae, Jae-Han Park, Moon-Hong Baeg, Jaeheung Park Dual Arm Peg-in-Hole Assembly with a Programmed Compliant System Conference/Workshop The 11th International Conference on Ubiquitous Robots and Ambient Intelligene, 15.11.2014. Abstract @misc{Park2014b,
title = {Dual Arm Peg-in-Hole Assembly with a Programmed Compliant System},
author = {Hyeonjun Park and Peter ki Kim and Ji-Hun Bae and Jae-Han Park and Moon-Hong Baeg and Jaeheung Park},
year = {2014},
date = {2014-11-15},
address = {The 11th International Conference on Ubiquitous Robots and Ambient Intelligene},
abstract = {http://dyros.snu.ac.kr/wp-content/uploads/2014/12/URAI2014_hyeonjun.pdf, paper},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
http://dyros.snu.ac.kr/wp-content/uploads/2014/12/URAI2014_hyeonjun.pdf, paper |
De Hong Jung, Jaeheung Park, Mathew Schwartz Towards On-Site Autonomous Robotic Floor Tiling of Mosaics Conference/Workshop The 14th International Conference on Control, Automation, and Systems (ICCAS), KINTEX, Korea, Best Presentation Award, 25.10.2014. Links @misc{Jung2014,
title = {Towards On-Site Autonomous Robotic Floor Tiling of Mosaics},
author = {De Hong Jung and Jaeheung Park and Mathew Schwartz},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2013/05/KakaoTalk_20141218_143005865.jpg, Best Presentation Award},
year = {2014},
date = {2014-10-25},
address = {The 14th International Conference on Control, Automation, and Systems (ICCAS), KINTEX, Korea, Best Presentation Award},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Yongtae G. Kim, Manolo Garabini, Jaeheung Park, Antonio Bicchi Drum Stroke Variation using Variable Stiffness Actuators Conference/Workshop 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 3892-3897, Chicago, U.S., 18.09.2014. @misc{Kim2014,
title = {Drum Stroke Variation using Variable Stiffness Actuators},
author = {Yongtae G. Kim and Manolo Garabini and Jaeheung Park and Antonio Bicchi},
year = {2014},
date = {2014-09-18},
pages = {pp. 3892-3897},
address = {2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 3892-3897, Chicago, U.S.},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Yisoo Lee, Hyeonjun Park, Ji-Hun Bae, Moon-Hong Baeg, Jaeheung Park
Experimental Results of Whole-body Control Framework on Torque Controlled Humanoid Legged Robot and Dual Arm-Hand Manipulator. Conference/Workshop at the Workshop “Whole-Body Control for Robots in the Real World”, International Conference on Intelligent Robots and Systems (IROS), Chicago, U.S., 18.09.2014. @misc{Lee2014b,
title = {Experimental Results of Whole-body Control Framework on Torque Controlled Humanoid Legged Robot and Dual Arm-Hand Manipulator.},
author = {Yisoo Lee and Hyeonjun Park and Ji-Hun Bae and Moon-Hong Baeg and Jaeheung Park
},
year = {2014},
date = {2014-09-18},
address = {at the Workshop “Whole-Body Control for Robots in the Real World”, International Conference on Intelligent Robots and Systems (IROS), Chicago, U.S.},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
