2020 |
안준휘, 이호상, 박재흥 간접적ZMP최적화를 통한 작업공간 전신 토크제어 Conference/Workshop 11.02.2020. @misc{안준휘2020, title = {간접적ZMP최적화를 통한 작업공간 전신 토크제어}, author = {안준휘, 이호상, 박재흥}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2020/02/20200206_020540.pdf}, year = {2020}, date = {2020-02-11}, abstract = {This paper shows wholebody dynamics torque controller through quadratic programming. To minimize zmp(zero moment point), we suggest indirect method to optimize zmp through quadratic programming. Through suggested controller, better contact stability was achieved and 1Khz of control rate for 31dof humanoid robot is also achieved. }, keywords = {}, pubstate = {published}, tppubtype = {presentation} } This paper shows wholebody dynamics torque controller through quadratic programming. To minimize zmp(zero moment point), we suggest indirect method to optimize zmp through quadratic programming. Through suggested controller, better contact stability was achieved and 1Khz of control rate for 31dof humanoid robot is also achieved. |
이상엽, 이해성, 김승연, 박재흥 Failure Recovery Strategy for Linear Triple Peg-in-Hole Assembly Conference/Workshop The 15th Korea Robotics Society Annual Conference, Kangwon, Pyeongchang, 11.02.2020. @misc{Lee2020, title = {Failure Recovery Strategy for Linear Triple Peg-in-Hole Assembly}, author = {이상엽, 이해성, 김승연, 박재흥}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2020/02/20200206_054426.pdf}, year = {2020}, date = {2020-02-11}, booktitle = {Failure Recovery Strategy for Linear Triple Peg-in-Hole Assembly}, address = {The 15th Korea Robotics Society Annual Conference, Kangwon, Pyeongchang}, abstract = {In this paper, we propose a failure recovery strategy for the linear triple peg-in-hole which is one of assembly tasks of autonomous furniture assembly. When the search surface is smaller than the search range, the assembly may fail by falling the part out of the search surface. The failure recovery strategy consists of a failure detection phase and a rotation phase to recover the status of the peg part to its pre-failure state. In the rotation phase based on torque control, the position of the part is compliant and the right peg of the part becomes the center of rotation. The proposed strategy is verified by assembling the back parts of the IKEA chair using a seven degree of freedom manipulator. In 100 trials, the parts were assembled 100 percent and the average assembly time was 6.44 seconds.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } In this paper, we propose a failure recovery strategy for the linear triple peg-in-hole which is one of assembly tasks of autonomous furniture assembly. When the search surface is smaller than the search range, the assembly may fail by falling the part out of the search surface. The failure recovery strategy consists of a failure detection phase and a rotation phase to recover the status of the peg part to its pre-failure state. In the rotation phase based on torque control, the position of the part is compliant and the right peg of the part becomes the center of rotation. The proposed strategy is verified by assembling the back parts of the IKEA chair using a seven degree of freedom manipulator. In 100 trials, the parts were assembled 100 percent and the average assembly time was 6.44 seconds. |
박수민, 박재흥 ZMP를 고려한 수직 방향의 무게 중심 궤적 생성 Conference/Workshop The 15th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, 10.02.2020. @misc{Park2020, title = {ZMP를 고려한 수직 방향의 무게 중심 궤적 생성}, author = {박수민, 박재흥}, year = {2020}, date = {2020-02-10}, urldate = {2020-02-10}, address = {The 15th Korea Robotics Society Annual Conference, Pyeongchang ,Korea}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
박수한, 장근우, 김승연, 김상현, 박재흥 주어진 힘에 대해 관절 토크를 최소화하는 역기구학 Conference/Workshop Forthcoming The 15th Korea Robotics Society Annual Conference, Pyeongchang, Korea, 10.02.2020. @misc{ParkIKTorque2020, title = {주어진 힘에 대해 관절 토크를 최소화하는 역기구학}, author = {박수한, 장근우, 김승연, 김상현, 박재흥}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2020/02/20200206_042053.pdf}, year = {2020}, date = {2020-02-10}, address = {The 15th Korea Robotics Society Annual Conference, Pyeongchang, Korea}, abstract = {When handling an object, people usually optimize their pose to ease work load. It is possible because the required joint torque to realize target wrench can be changed by different joint configurations. Using this property, we propose an inverse kinematics method to lessen the joint torque while the robot handles an object. The proposed method minimizes the norm of joint torque ensuring position and orientation constraints by using non-linear optimization method. As a result, we could obtain a joint configuration which does not violate the constraints and achieves the smaller norm of joint torque than that from conventional inverse kinematics algorithm. }, keywords = {}, pubstate = {forthcoming}, tppubtype = {presentation} } When handling an object, people usually optimize their pose to ease work load. It is possible because the required joint torque to realize target wrench can be changed by different joint configurations. Using this property, we propose an inverse kinematics method to lessen the joint torque while the robot handles an object. The proposed method minimizes the norm of joint torque ensuring position and orientation constraints by using non-linear optimization method. As a result, we could obtain a joint configuration which does not violate the constraints and achieves the smaller norm of joint torque than that from conventional inverse kinematics algorithm. |
박범영, 김동현, 김준형, 박재흥 조이스틱을 사용한 휴머노이드 로봇 보행 전략(Humanoid robot walking strategy using joystick) Conference/Workshop The 15th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, 10.02.2020. @misc{Park2019b, title = {조이스틱을 사용한 휴머노이드 로봇 보행 전략(Humanoid robot walking strategy using joystick)}, author = {박범영, 김동현, 김준형, 박재흥}, url = {http://dyros.snu.ac.kr/20200205_014756/}, year = {2020}, date = {2020-02-10}, address = {The 15th Korea Robotics Society Annual Conference, Pyeongchang ,Korea}, abstract = {In this paper, we describe a strategy for giving humanoid robot walking commands with joysticks. Using the joystick to give a humanoid robot a walking command is more intuitive than using a traditional UI keyboard or mouse. Robot walking using joysticks requires a walking command system different from traditional robot walking. In this paper, we describe the structure of the system that the robot can move forward or stop under the command of joystick. In addition, the paper introduces the determination of the position of the foot for walking or stopping according to the joystick command. The results are verified by simulation.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } In this paper, we describe a strategy for giving humanoid robot walking commands with joysticks. Using the joystick to give a humanoid robot a walking command is more intuitive than using a traditional UI keyboard or mouse. Robot walking using joysticks requires a walking command system different from traditional robot walking. In this paper, we describe the structure of the system that the robot can move forward or stop under the command of joystick. In addition, the paper introduces the determination of the position of the foot for walking or stopping according to the joystick command. The results are verified by simulation. |
2019 |
Minsoo Kim, Joonwoo Ahn, Jaeheung Park Global Planning Method for Visiting Roads with Parking Spaces in Priority using Rural Postman Problem Conference/Workshop 2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, 18.11.2019. @misc{Kim2019, title = {Global Planning Method for Visiting Roads with Parking Spaces in Priority using Rural Postman Problem}, author = {Minsoo Kim, Joonwoo Ahn and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/12/20191216_054629.pdf}, doi = {10.1109/ITSC.2019.8917318}, isbn = {978-1-5386-7024-8}, year = {2019}, date = {2019-11-18}, booktitle = {Global Planning Method for Visiting Roads with Parking Spaces in Priority using Rural Postman Problem}, journal = {2019 IEEE Intelligent Transportation Systems Conference (ITSC)}, pages = {6}, address = {2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand}, school = {Colleage of Convergence, Seoul National University}, abstract = {Global planning is one of the key components in autonomous driving. At a parking lot, the purpose of the global planning is to find an empty parking space. Therefore, the autonomous vehicle is to visit roads with parking spaces until the empty space is found. In this paper, to achieve the purpose, the global planning is formulated as the RuralPostman Problem (RPP) and a genetic algorithm (GA) is used to solve the RPP. However, GA produces a plan to randomly visit roads, which may not be efficient. Therefore, in this paper, we propose a cost function considering the parking availability, order of visiting, length of each road segment, and forward-backward switching of a vehicle. The cost function enables generating a plan by prioritizing visiting the roads with parking spaces. Experimental results show that solving the RPP with the proposed cost function generates a more efficient plan than that produced by solving the RPP without the cost function.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } Global planning is one of the key components in autonomous driving. At a parking lot, the purpose of the global planning is to find an empty parking space. Therefore, the autonomous vehicle is to visit roads with parking spaces until the empty space is found. In this paper, to achieve the purpose, the global planning is formulated as the RuralPostman Problem (RPP) and a genetic algorithm (GA) is used to solve the RPP. However, GA produces a plan to randomly visit roads, which may not be efficient. Therefore, in this paper, we propose a cost function considering the parking availability, order of visiting, length of each road segment, and forward-backward switching of a vehicle. The cost function enables generating a plan by prioritizing visiting the roads with parking spaces. Experimental results show that solving the RPP with the proposed cost function generates a more efficient plan than that produced by solving the RPP without the cost function. |
Jaesug Jung, Donghyeon Kim,, Jaeheung Park Operational Space Control Framework for Torque Controlled Humanoid Robots with Joint Elasticity Conference/Workshop 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 03.11.2019. @misc{Jung2019, title = {Operational Space Control Framework for Torque Controlled Humanoid Robots with Joint Elasticity}, author = {Jaesug Jung, Donghyeon Kim, and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2020/01/20200102_015900.pdf}, year = {2019}, date = {2019-11-03}, booktitle = {Operational Space Control Framework for Torque Controlled Humanoid Robots with Joint Elasticity}, journal = {2019 IEEE/RSJ International Conference on Intelligent Robots and Systems}, address = {2019 IEEE/RSJ International Conference on Intelligent Robots and Systems}, abstract = {Torque controlled robots have the capability of implementing compliant behavior with back-drivability. In practice, however, joint elasticity often prevents an accurate position tracking performance of a robot. In particular, humanoid robots are influenced more by elasticity because of a long kinematic chain between the feet and hands. In this paper, we present a new inverse dynamics based control approach for torque controlled humanoid robots with joint elasticity. When formulating the operational space control framework, feedback control consists of only motor-related parts with measured motor angle values, and the link dynamics is compensated by the feedforward terms. The experiment results of the proposed approach show a noticeable improvement in the position tracking performance in 6-DoF manipulator. Finally, the proposed method was applied to a torque controlled biped robot for walking. Both stiff motion control of the CoM and compliant motion control of the foot were simultaneously achieved, demonstrating the advantage of the torque controlled robot.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } Torque controlled robots have the capability of implementing compliant behavior with back-drivability. In practice, however, joint elasticity often prevents an accurate position tracking performance of a robot. In particular, humanoid robots are influenced more by elasticity because of a long kinematic chain between the feet and hands. In this paper, we present a new inverse dynamics based control approach for torque controlled humanoid robots with joint elasticity. When formulating the operational space control framework, feedback control consists of only motor-related parts with measured motor angle values, and the link dynamics is compensated by the feedforward terms. The experiment results of the proposed approach show a noticeable improvement in the position tracking performance in 6-DoF manipulator. Finally, the proposed method was applied to a torque controlled biped robot for walking. Both stiff motion control of the CoM and compliant motion control of the foot were simultaneously achieved, demonstrating the advantage of the torque controlled robot. |
Sumin Park, Jaeheung Park Vertical COM Motion Generation to Reduce Slipping and Mechanical Work during Walking Conference/Workshop IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada, Kanako Miura Award, 17.10.2019. @misc{Park2019b, title = {Vertical COM Motion Generation to Reduce Slipping and Mechanical Work during Walking}, author = {Sumin Park and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/11/Vertical-COM-motion.pdf}, year = {2019}, date = {2019-10-17}, journal = {IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada, Kanako Miura Award}, address = {IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada, Kanako Miura Award}, abstract = {A robot foot can slip when the horizontal shear force acting on the foot exceeds the frictional force between the foot and the ground. In the linear inverted-pendulum (LIP) model, the vertical height of the center of mass (COM) is kept constant, and the vertical force is always equal to the gravitational force at any walking speed. However, the horizontal force increases upon increasing the walking speed. This restriction on the vertical force in the LIP model can cause the robot foot to slip at fast walking speeds, as the horizontal force can exceed the frictional force, which is proportional to the vertical force. In this study, we present an optimization method to generate vertical COM motion to maintain the utilized coefficient of friction (uCOF) less than the available coefficient of friction between the foot and the ground, and to minimize the mechanical work of the COM. Vertical motions at various speeds are generated using the proposed optimization method. Subsequently, the generated COM motion patterns are used as reference trajectories of the COM in robot simulation. Optimization and simulation results demonstrate that the mechanical work and uCOF decrease because of the vertical motion. This study suggests a way to generate slip-safe and energy-efficient COM patterns, which, in turn, overcome the limitations of the LIP model by adding vertical COM motion.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } A robot foot can slip when the horizontal shear force acting on the foot exceeds the frictional force between the foot and the ground. In the linear inverted-pendulum (LIP) model, the vertical height of the center of mass (COM) is kept constant, and the vertical force is always equal to the gravitational force at any walking speed. However, the horizontal force increases upon increasing the walking speed. This restriction on the vertical force in the LIP model can cause the robot foot to slip at fast walking speeds, as the horizontal force can exceed the frictional force, which is proportional to the vertical force. In this study, we present an optimization method to generate vertical COM motion to maintain the utilized coefficient of friction (uCOF) less than the available coefficient of friction between the foot and the ground, and to minimize the mechanical work of the COM. Vertical motions at various speeds are generated using the proposed optimization method. Subsequently, the generated COM motion patterns are used as reference trajectories of the COM in robot simulation. Optimization and simulation results demonstrate that the mechanical work and uCOF decrease because of the vertical motion. This study suggests a way to generate slip-safe and energy-efficient COM patterns, which, in turn, overcome the limitations of the LIP model by adding vertical COM motion. |
Jaeheung Park Keynote talks: Whole-body-control Conference/Workshop IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada, 16.10.2019. @misc{JPark2019, title = {Keynote talks: Whole-body-control}, author = {Jaeheung Park}, year = {2019}, date = {2019-10-16}, address = {IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
Sanghyun Kim, Keunwoo Jang, Suhan Park, Yisoo Lee, Sang Yup Lee, Jaeheung Park Whole-body Control of Non-holonomic Mobile Manipulator Based on Hierarchical Quadratic Programming and Continuous Task Transition Conference/Workshop IEEE International Conference on Advanced Robotics & Mechatronics (ARM), Osaka, Japan, Best Conference Paper Award, 03.07.2019. @misc{ICARM2019, title = {Whole-body Control of Non-holonomic Mobile Manipulator Based on Hierarchical Quadratic Programming and Continuous Task Transition}, author = {Sanghyun Kim and Keunwoo Jang and Suhan Park and Yisoo Lee and Sang Yup Lee and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/04/root_final.pdf http://dyros.snu.ac.kr/wp-content/uploads/2019/07/ARM2019_award-1024x768.jpg http://dyros.snu.ac.kr/wp-content/uploads/2019/07/20190720_221033-1024x512.jpg}, year = {2019}, date = {2019-07-03}, journal = {IEEE International Conference on Advanced Robotics & Mechatronics (ARM), Osaka, Japan, Best Conference Paper Award}, publisher = {IEEE International Conference on Advanced Robotics & Mechatronics (ARM), Osaka, Japan, Best Conference Paper Award}, address = {IEEE International Conference on Advanced Robotics & Mechatronics (ARM), Osaka, Japan, Best Conference Paper Award}, abstract = {Whole-body manipulation for a non-holonomic mobile manipulator has potential in various fields including service and industrial robotics because it can provide a great deal of manipulation capability and mobility. This paper presents the whole-body controller of the non-holonomic mobile manipulator for achieving complex tasks effectively. The proposed controller is designed based on Hierarchical Quadratic Programming (HQP). Thus, the controller can deal with both equality and inequality tasks. Moreover, by applying the continuous task transition strategy, our controller can compute the continuous control input when the priorities of the tasks are changed. The proposed control scheme was implemented on a mobile base with a 7 DoFs robotic arm and its performance was validated during various experimental scenarios.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } Whole-body manipulation for a non-holonomic mobile manipulator has potential in various fields including service and industrial robotics because it can provide a great deal of manipulation capability and mobility. This paper presents the whole-body controller of the non-holonomic mobile manipulator for achieving complex tasks effectively. The proposed controller is designed based on Hierarchical Quadratic Programming (HQP). Thus, the controller can deal with both equality and inequality tasks. Moreover, by applying the continuous task transition strategy, our controller can compute the continuous control input when the priorities of the tasks are changed. The proposed control scheme was implemented on a mobile base with a 7 DoFs robotic arm and its performance was validated during various experimental scenarios. |
Sang Yup Lee, Mingon Kim, Jaeheung Park Kinesthetic Teaching of Position-Controlled Robot Manipulators Using Disturbance Observer Conference/Workshop Forthcoming Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea, 24.06.2019. @misc{Lee2019, title = {Kinesthetic Teaching of Position-Controlled Robot Manipulators Using Disturbance Observer}, author = {Sang Yup Lee, Mingon Kim, Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/07/20190703_071119.pdf}, year = {2019}, date = {2019-06-24}, journal = {Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea}, address = {Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea}, abstract = {Manufacturing robots very often require reprogramming tasks due to the frequent change in the production process. Kinesthetic teaching is one of the efficient ways to re-programming the task for robots. In this paper, the interaction is estimated by the disturbance observer based on the position controllers at each joint without additional sensors. Then, the compliant motion is created in the direction of the observed disturbance. The experiment demonstrates the capability of kinesthetic teaching through the physical guidance.}, keywords = {}, pubstate = {forthcoming}, tppubtype = {presentation} } Manufacturing robots very often require reprogramming tasks due to the frequent change in the production process. Kinesthetic teaching is one of the efficient ways to re-programming the task for robots. In this paper, the interaction is estimated by the disturbance observer based on the position controllers at each joint without additional sensors. Then, the compliant motion is created in the direction of the observed disturbance. The experiment demonstrates the capability of kinesthetic teaching through the physical guidance. |
Joonwoo Ahn, Jaeheung Park End-To-End Driving in Unstructured Environments Using Conditional Imitation Learning Conference/Workshop Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea, 24.06.2019. @misc{JW2019, title = {End-To-End Driving in Unstructured Environments Using Conditional Imitation Learning}, author = {Joonwoo Ahn and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/07/UR19_0204_FI_End-To-End-Driving-in-Unstructured-Environments-Using-Conditional-Imitation-Learning-4.pdf}, year = {2019}, date = {2019-06-24}, journal = {Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea}, address = {Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea}, abstract = {We propose a method using conditional imitation learning for autonomous driving on unstructured environments. This method is to train a driving policy to imitate an expert action about the input information. Also, the driving policy is classified according to conditional driving purposes. We show the effectiveness of the proposed method in Carla simulator.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } We propose a method using conditional imitation learning for autonomous driving on unstructured environments. This method is to train a driving policy to imitate an expert action about the input information. Also, the driving policy is classified according to conditional driving purposes. We show the effectiveness of the proposed method in Carla simulator. |
Minsoo Kim, Jaeheung Park Reinforcement Learning to Drive in Unstructured Environments Conference/Workshop Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea, 24.06.2019. @misc{MS2019, title = {Reinforcement Learning to Drive in Unstructured Environments}, author = {Minsoo Kim and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/07/UR19_0205_FI_Reinforcement-Learning-to-Drive-in-Unstructured-Environments.pdf}, year = {2019}, date = {2019-06-24}, journal = {Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea, 24.06.2019}, address = {Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea}, abstract = {In this paper, we present a method to drive in unstructured environments using reinforcement learning. We propose construction of state and reward in reinforcement learning for safe driving at unstructured environments. Experimental results show the performance of the proposed method in a simulation.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } In this paper, we present a method to drive in unstructured environments using reinforcement learning. We propose construction of state and reward in reinforcement learning for safe driving at unstructured environments. Experimental results show the performance of the proposed method in a simulation. |
Chanwoo Ahn, Jaeheung Park Real-Time Segmentation of Drivable Area Using Supervised Learning Conference/Workshop Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea, 24.06.2019. @misc{CW2019, title = {Real-Time Segmentation of Drivable Area Using Supervised Learning }, author = {Chanwoo Ahn and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/07/UR19_0220_FI_Real-Time-Segmentation-of-Drivable-Area-Using-Supervised-Learning-.pdf}, year = {2019}, date = {2019-06-24}, journal = {Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots)}, address = {Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea}, abstract = {Supervised learning is used to determine the driving range of images in self-driving. However, conventional methods cannot be used for actual vehicle driving due to their low accuracy and high computational time. Therefore, in this paper, we propose methods to address these problems by, i) simplification of class, ii) image resizing and iii) transmitting frequency tuning.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } Supervised learning is used to determine the driving range of images in self-driving. However, conventional methods cannot be used for actual vehicle driving due to their low accuracy and high computational time. Therefore, in this paper, we propose methods to address these problems by, i) simplification of class, ii) image resizing and iii) transmitting frequency tuning. |
Jee-eun Lee, Jaeheung Park Kinematic Parameter Calibration for Humanoid Robot Using Relative Pose Measurement in Walking Motion Conference/Workshop Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea, 24.06.2019. @misc{JE2019, title = {Kinematic Parameter Calibration for Humanoid Robot Using Relative Pose Measurement in Walking Motion }, author = {Jee-eun Lee and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/07/UR19_0083_FI_Kinematic-Parameter-Calibration-for-Humanoid-Robot-Using-Relative-Pose-Measurement-in-Walking-Motion-.pdf}, year = {2019}, date = {2019-06-24}, journal = {Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea}, address = {Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea}, abstract = {Robots in use often need to be re-calibrated, due to the mechanical part deformation resulted from unexpected collisions. However, current calibration algorithms are not easy to be applied to humanoids and they require complex experiment setup. This is because humanoids have difficulties in gathering absolute pose measurement since they do not have a fixed frame on its body. On the other hand, the relative pose over time can be easily measured by a camera or a lidar that are usually attached to the humanoids’ head. In this paper, we present a convenient and low-cost calibration method for humanoids by using relative pose measurements in walking motion. Our framework starts from the assumption that the sole of the support foot at every single footstep can be thought of as the temporary fixed frame while walking. Then, based on the decision of the supporting foot, we model the forward kinematics of an open chain from the foot to the head. In the description of a kinematic model, we use the local product of exponentials (POE) formula to take advantages of its simplicity and continuity in computation. Then, we solve the least square problem formulated to minimize the error between the actual measurement and nominal value computed from the corresponding joint angle data. Lastly, simulation results will be discussed to verify the feasibility of this framework.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } Robots in use often need to be re-calibrated, due to the mechanical part deformation resulted from unexpected collisions. However, current calibration algorithms are not easy to be applied to humanoids and they require complex experiment setup. This is because humanoids have difficulties in gathering absolute pose measurement since they do not have a fixed frame on its body. On the other hand, the relative pose over time can be easily measured by a camera or a lidar that are usually attached to the humanoids’ head. In this paper, we present a convenient and low-cost calibration method for humanoids by using relative pose measurements in walking motion. Our framework starts from the assumption that the sole of the support foot at every single footstep can be thought of as the temporary fixed frame while walking. Then, based on the decision of the supporting foot, we model the forward kinematics of an open chain from the foot to the head. In the description of a kinematic model, we use the local product of exponentials (POE) formula to take advantages of its simplicity and continuity in computation. Then, we solve the least square problem formulated to minimize the error between the actual measurement and nominal value computed from the corresponding joint angle data. Lastly, simulation results will be discussed to verify the feasibility of this framework. |
Mingon Kim, Daegyu Lim, Jaeheung Park Online Walking Pattern Generation for Humanoid Robot with Compliant Motion Control Conference/Workshop IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 20.05.2019. @misc{ICRA2019Kim, title = {Online Walking Pattern Generation for Humanoid Robot with Compliant Motion Control}, author = {Mingon Kim and Daegyu Lim and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/01/icra2019_mg_f7.pdf}, year = {2019}, date = {2019-05-20}, journal = {IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada}, publisher = {IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada}, address = {IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada}, abstract = {Compliant motion of humanoids is one of the most important characteristics for interaction with the human and environment in the real world. Especially during walking, the compliant motion ensures stable contact between the foot and the ground, but the walking stability is degraded due to the position tracking performance and unknown disturbance. To address this problem of possible instability of humanoid walking with compliant motion control, this paper proposes a real-time walking pattern generation considering the motion control performance of the robot. The dynamics model of the robot with the motion controller is described as a second order system approximating position tracing performance with a linear inverted pendulum model for the relation between Zero-Moment Point (ZMP) and Center of Mass (CoM). The CoM trajectory is calculated using the preview control based on the dynamics model and the current state of the robot. Therefore, even if the robot has the low tracking performance due to compliant motion control of the robot, the walking stability can be ensured. The proposed method was implemented on our humanoid robot, DYROS-JET, and its performance was demonstrated by improved stability during walking.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } Compliant motion of humanoids is one of the most important characteristics for interaction with the human and environment in the real world. Especially during walking, the compliant motion ensures stable contact between the foot and the ground, but the walking stability is degraded due to the position tracking performance and unknown disturbance. To address this problem of possible instability of humanoid walking with compliant motion control, this paper proposes a real-time walking pattern generation considering the motion control performance of the robot. The dynamics model of the robot with the motion controller is described as a second order system approximating position tracing performance with a linear inverted pendulum model for the relation between Zero-Moment Point (ZMP) and Center of Mass (CoM). The CoM trajectory is calculated using the preview control based on the dynamics model and the current state of the robot. Therefore, even if the robot has the low tracking performance due to compliant motion control of the robot, the walking stability can be ensured. The proposed method was implemented on our humanoid robot, DYROS-JET, and its performance was demonstrated by improved stability during walking. |
Jongseong Ko, Jaehoon Sim, Jaeheung Park Design of Configuration-changeable Modular Robot Test Platform Conference/Workshop The 34rd Institute of Control, Robotics and Systems Annual Conference (ICROS 2019), Gyeongju, Korea, 17.05.2019. @misc{Ko2019, title = {Design of Configuration-changeable Modular Robot Test Platform}, author = {Jongseong Ko, Jaehoon Sim, Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/05/Ko2019.pdf}, year = {2019}, date = {2019-05-17}, journal = {The 34rd Institute of Control, Robotics and Systems Annual Conference (ICROS 2019), Gyeongju, Korea}, address = {The 34rd Institute of Control, Robotics and Systems Annual Conference (ICROS 2019), Gyeongju, Korea}, abstract = {In this paper, we present the development result of multi-purpose test platform hardware which has a simple and robust modular structure and can be modified into various forms according to research needs. Through the proposed standardized module, it is expected that more reliable and consistent data can be measured than before. In addition, the research period can be shortened and the cost can be saved.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } In this paper, we present the development result of multi-purpose test platform hardware which has a simple and robust modular structure and can be modified into various forms according to research needs. Through the proposed standardized module, it is expected that more reliable and consistent data can be measured than before. In addition, the research period can be shortened and the cost can be saved. |
Junhyung Kim, Jaehoon Sim, Jaeheung Park Humanoid Fall Recovery Strategy using Air Thrust Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 23.01.2019. @misc{Kim2019, title = {Humanoid Fall Recovery Strategy using Air Thrust}, author = {Junhyung Kim, Jaehoon Sim and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/02/TP2-29.pdf}, year = {2019}, date = {2019-01-23}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,}, abstract = {본 논문에서는 휴머노이드 로봇의 측면에 외력이 가해졌을 때 공기 추력을 이용하여 보행 중 가해진 외력에 대한 휴 머노이드 로봇의 넘어짐 방지하는 전략을 제안한다. 휴머노이드 로봇의 양쪽 어깨에 붙어 있는 공기 추력 구동기는 넘 어짐을 방지하기 위하여 공기 추력을 발생시킨다. 휴머노이드 로봇의 상태가 넘어지고 있는지를 판단하기 위하여 캡처 포인트를 사용하였다. 캡처포인트가 지지다각형을 넘어가면 휴머노이드 로봇이 넘어지는 것으로 판단되면 공기 추력 구동기가 휴머노이드 로봇이 넘어지는 방향의 반대 방향으로 힘을 발생시켜 넘어짐을 회복한다. 본 논문에서 제안하는 넘어짐 회복 전략을 휴머노이드 로봇 DYROS-JET 를 이용한 실제 실험을 통하여 검증하였다. 또한 실험 영상은 https://youtu.be/ij6EltOWbf8 을 통해 확인 할 수 있다.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } 본 논문에서는 휴머노이드 로봇의 측면에 외력이 가해졌을 때 공기 추력을 이용하여 보행 중 가해진 외력에 대한 휴 머노이드 로봇의 넘어짐 방지하는 전략을 제안한다. 휴머노이드 로봇의 양쪽 어깨에 붙어 있는 공기 추력 구동기는 넘 어짐을 방지하기 위하여 공기 추력을 발생시킨다. 휴머노이드 로봇의 상태가 넘어지고 있는지를 판단하기 위하여 캡처 포인트를 사용하였다. 캡처포인트가 지지다각형을 넘어가면 휴머노이드 로봇이 넘어지는 것으로 판단되면 공기 추력 구동기가 휴머노이드 로봇이 넘어지는 방향의 반대 방향으로 힘을 발생시켜 넘어짐을 회복한다. 본 논문에서 제안하는 넘어짐 회복 전략을 휴머노이드 로봇 DYROS-JET 를 이용한 실제 실험을 통하여 검증하였다. 또한 실험 영상은 https://youtu.be/ij6EltOWbf8 을 통해 확인 할 수 있다. |
Sangyup Lee, Suhan Park, Keunwoo Jang, Sanghyun Kim, Seugnyeon Lee, Jaeheung Park A Comparative Study of Tracking Control with Closed Loop Inverse Kinematics Algorithm Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 23.01.2019. @misc{Kim2019, title = {A Comparative Study of Tracking Control with Closed Loop Inverse Kinematics Algorithm}, author = {Sangyup Lee, Suhan Park, Keunwoo Jang, Sanghyun Kim, Seugnyeon Lee and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/02/20190221_030023.pdf}, year = {2019}, date = {2019-01-23}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
장근우, 김상현, 박수한, 이상엽, 박재흥 Self-collision avoidance algorithm for robot manipulator using continuous task transition algorithm Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, , 22.01.2019. @misc{장근우2019, title = {Self-collision avoidance algorithm for robot manipulator using continuous task transition algorithm}, author = {장근우, 김상현, 박수한, 이상엽, 박재흥}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/01/20190130_055223.pdf}, year = {2019}, date = {2019-01-22}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, }, abstract = {본 논문에서는 매니퓰레이터의 내부 링크 간 자가 충돌을 방지하는 알고리즘을 제안한다. 알고리즘은 해의 불연속성 없 이 작업의 삽입이나 삭제가 가능한 작업 전이 알고리즘을 기반으로 한다. 또한, 알고리즘은 매니퓰레이터의 내부 링크 간 거리 값에 따라 일정 거리 이하부터 서로 멀어지는 방향의 작업을 삽입하여 충돌을 회피한다. 알고리즘의 검증은 7자 유도 매니퓰레이터를 통해 이루어졌다. 또한, 실험 영상은 https://youtu.be/FH2wKkQfCIc 을 통해 확인할 수 있다.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } 본 논문에서는 매니퓰레이터의 내부 링크 간 자가 충돌을 방지하는 알고리즘을 제안한다. 알고리즘은 해의 불연속성 없 이 작업의 삽입이나 삭제가 가능한 작업 전이 알고리즘을 기반으로 한다. 또한, 알고리즘은 매니퓰레이터의 내부 링크 간 거리 값에 따라 일정 거리 이하부터 서로 멀어지는 방향의 작업을 삽입하여 충돌을 회피한다. 알고리즘의 검증은 7자 유도 매니퓰레이터를 통해 이루어졌다. 또한, 실험 영상은 https://youtu.be/FH2wKkQfCIc 을 통해 확인할 수 있다. |
박효종, 심재훈, 박수한, 박재흥 SOEM을 이용한 실시간 휴머노이드 로봇 제어 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. @misc{박효종2019, title = {SOEM을 이용한 실시간 휴머노이드 로봇 제어}, author = {박효종, 심재훈, 박수한, 박재흥}, year = {2019}, date = {2019-01-22}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
백지영, 심재훈, 박재흥 휴머노이드 구동을 위한 딥러닝 음성인식 인터페이스 개발 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. @misc{백지영2019, title = {휴머노이드 구동을 위한 딥러닝 음성인식 인터페이스 개발 }, author = {백지영, 심재훈, 박재흥}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/02/20190221_025629.pdf}, year = {2019}, date = {2019-01-22}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
김규리, 성은호, 심재훈, 박재흥 로봇을 제어하는 족동식 사용자 인터페이스 개발 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. @misc{김규리2019, title = {로봇을 제어하는 족동식 사용자 인터페이스 개발}, author = {김규리, 성은호, 심재훈, 박재흥}, year = {2019}, date = {2019-01-22}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
박규진, 임규범, 박재흥 카메라센서와 라이다 센서 융합에 기반한 개선된 주차공간 검출 시스템 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. @misc{박규진2019, title = {카메라센서와 라이다 센서 융합에 기반한 개선된 주차공간 검출 시스템 }, author = {박규진, 임규범, 박재흥}, year = {2019}, date = {2019-01-22}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
김소연, 김승연, 박재흥 로봇 핸드 제어를 위한 실시간 손 동작 영상 인식 시스템 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. @misc{김소연2019, title = {로봇 핸드 제어를 위한 실시간 손 동작 영상 인식 시스템 }, author = {김소연, 김승연, 박재흥}, year = {2019}, date = {2019-01-22}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
박범영, 심원섭, 김영주, 정용찬, 이은규, 이우현, 김은총, 박재흥 Experiential boarding robot system using industrial robot Conference/Workshop 22.01.2019. @misc{박범영2019, title = {Experiential boarding robot system using industrial robot}, author = {박범영, 심원섭, 김영주, 정용찬, 이은규, 이우현, 김은총, 박재흥}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2020/02/20200205_013850.pdf}, year = {2019}, date = {2019-01-22}, abstract = {본 논문은 산업용 로봇에 기반을 두어 사람이 실제로 탑승하여 로봇을 움직이며 체험할 수 있는 탑승 로봇 시스템에 대해 설명한다. 제안하는 시스템은 KUKA사의 KR-120 로봇을 이용한 체험용 탑승 로봇을 사용한다. 로봇의 말단부에는 사람이 탑승할 수 있는 탑승부가 부착되어 있다. 또한 탑승부에는 로봇에 탑승한 조작자가 로봇을 조종하기 위해 사용하는 조이스틱이 장착되어 있다. 시스템을 검증하는 실험은 사람이 로봇에 탑승 후 로봇을 직접 조종하며 진행되었다. 또한 현재 시스템이 가지고 있는 문제를 파악하고, 이를 보완하기 위한 추후 연구의 방향에 대해 설명한다}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } 본 논문은 산업용 로봇에 기반을 두어 사람이 실제로 탑승하여 로봇을 움직이며 체험할 수 있는 탑승 로봇 시스템에 대해 설명한다. 제안하는 시스템은 KUKA사의 KR-120 로봇을 이용한 체험용 탑승 로봇을 사용한다. 로봇의 말단부에는 사람이 탑승할 수 있는 탑승부가 부착되어 있다. 또한 탑승부에는 로봇에 탑승한 조작자가 로봇을 조종하기 위해 사용하는 조이스틱이 장착되어 있다. 시스템을 검증하는 실험은 사람이 로봇에 탑승 후 로봇을 직접 조종하며 진행되었다. 또한 현재 시스템이 가지고 있는 문제를 파악하고, 이를 보완하기 위한 추후 연구의 방향에 대해 설명한다 |
황순욱, 김동현, 정재석, 박재흥 속도 관측기를 이용한 토크 기반 로봇 제어에서의 위치 추종 성능 향상 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. @misc{황순욱2019, title = {속도 관측기를 이용한 토크 기반 로봇 제어에서의 위치 추종 성능 향상}, author = {황순욱, 김동현, 정재석, 박재흥}, year = {2019}, date = {2019-01-22}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
이지민, 이호상, 안준휘, 박재흥 비전 센서와 능동적 접촉 인지 제어 방법을 융합한 외부 물체의 접촉 인지 및 모서리 예측 전략 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. @misc{이지민2019, title = {비전 센서와 능동적 접촉 인지 제어 방법을 융합한 외부 물체의 접촉 인지 및 모서리 예측 전략}, author = {이지민, 이호상, 안준휘, 박재흥}, year = {2019}, date = {2019-01-22}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
안준휘, 이호상, 박재흥 힘-토크 센서와 전신 동역학 모델을 융합한 보행 로봇의 접촉력 추정 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. @misc{안준휘2019, title = {힘-토크 센서와 전신 동역학 모델을 융합한 보행 로봇의 접촉력 추정}, author = {안준휘, 이호상, 박재흥}, year = {2019}, date = {2019-01-22}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
Seungyeon Kim, Jaeheung Park In-hand rolling motion generation using underactuated fingers with Four-bar linkage chains Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, 21.01.2019. @misc{Kim2019k, title = {In-hand rolling motion generation using underactuated fingers with Four-bar linkage chains}, author = {Seungyeon Kim and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/07/MP1-12.pdf}, year = {2019}, date = {2019-01-21}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
Joowan Kim, Wonje Choi, Jaeheung Park Design Improvement of Compliant Anti-Gravity Rehabilitation Robot for Lumbar Pain Patients Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, 21.01.2019. @misc{JWKim2019, title = {Design Improvement of Compliant Anti-Gravity Rehabilitation Robot for Lumbar Pain Patients}, author = {Joowan Kim, Wonje Choi and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/02/KRoC-19-0139.pdf}, year = {2019}, date = {2019-01-21}, address = {The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea}, abstract = {요통을 위한 운동 치료로 요부 안정화 운동은 가장 권장되는 치료 방법이다. 하지만 요부 안정화 운동은 맨몸 운동으로, 힘이 부족한 노인 및 장애 환자들에게 부하 조절이 힘들며 상,하지에 무리를 줄 수 있는 단점이 있어 효과적인 운동 효과를 보기 힘들다. 이러한 단점을 보완하기 위해 맨몸 운동과 근사한 운동효과를 제공하고 정량적인 운동 부하 조절이 가능한 유연한 항중력 재활 로봇을 개발하였고 선행 실험으로 근전도를 활용한 운동 평가를 진행한 결과, 대부분의 운동은 맨몸 운동과 큰 유사성을 가졌지만 특정 자세 운동에서 근육 활성화 유사성이 상대적으로 낮은 결과가 나왔다. 선행 실험 연구를 토대로 본 논문은 맨몸 요부 안정화 운동과 동등한 운동효과를 내기 위하여, 기 개발된 허리 재활 로봇의 기구적 단점을 보완한 설계 개선점에 대해 기술하였다. }, keywords = {}, pubstate = {published}, tppubtype = {presentation} } 요통을 위한 운동 치료로 요부 안정화 운동은 가장 권장되는 치료 방법이다. 하지만 요부 안정화 운동은 맨몸 운동으로, 힘이 부족한 노인 및 장애 환자들에게 부하 조절이 힘들며 상,하지에 무리를 줄 수 있는 단점이 있어 효과적인 운동 효과를 보기 힘들다. 이러한 단점을 보완하기 위해 맨몸 운동과 근사한 운동효과를 제공하고 정량적인 운동 부하 조절이 가능한 유연한 항중력 재활 로봇을 개발하였고 선행 실험으로 근전도를 활용한 운동 평가를 진행한 결과, 대부분의 운동은 맨몸 운동과 큰 유사성을 가졌지만 특정 자세 운동에서 근육 활성화 유사성이 상대적으로 낮은 결과가 나왔다. 선행 실험 연구를 토대로 본 논문은 맨몸 요부 안정화 운동과 동등한 운동효과를 내기 위하여, 기 개발된 허리 재활 로봇의 기구적 단점을 보완한 설계 개선점에 대해 기술하였다. |
Suhan Park, Jaehoon Sim, Jaeheung Park System Design of Humanoid Robot DYROS-JET Conference/Workshop 2019 IEEE/SICE International Symposium on System Integration, Paris, France, 16.01.2019. @misc{SII2019PARK, title = {System Design of Humanoid Robot DYROS-JET}, author = {Suhan Park and Jaehoon Sim and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/01/0170.pdf}, year = {2019}, date = {2019-01-16}, address = {2019 IEEE/SICE International Symposium on System Integration, Paris, France}, abstract = {To perform various tasks for humans, humanoid robots are designed to comprise multiple joints that provide them with both mobility and manipulability enabled by a kinematic structure similar to that of humans. Herein, we introduce a system design created to control a robot with numerous degrees of freedom. Our communication system is constructed to simultaneously control multiple joints and improve control performance by fully exploiting the control frequency. We also consider the design of the input/output interface for multiple sensors that are essential for stable walking and the manipulation of humanoid robots. A fail-safe algorithm is implemented for the software modules and the controller, and the proposed system design is experimentally verified.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } To perform various tasks for humans, humanoid robots are designed to comprise multiple joints that provide them with both mobility and manipulability enabled by a kinematic structure similar to that of humans. Herein, we introduce a system design created to control a robot with numerous degrees of freedom. Our communication system is constructed to simultaneously control multiple joints and improve control performance by fully exploiting the control frequency. We also consider the design of the input/output interface for multiple sensors that are essential for stable walking and the manipulation of humanoid robots. A fail-safe algorithm is implemented for the software modules and the controller, and the proposed system design is experimentally verified. |
2018 |
Minsung Kim, Gyubeom Im, Joonwoo Ahn, Minsoo Kim, Jaeheung Park Autonomous parking algorithm using automatic selection of forward and backward switching points via model predictive control Conference/Workshop The Korean Society of Automotive Engineers Annual Autumn Conference, Kangwon, Korea, 14.11.2018. @misc{Kim2018b, title = {Autonomous parking algorithm using automatic selection of forward and backward switching points via model predictive control}, author = {Minsung Kim, Gyubeom Im, Joonwoo Ahn, Minsoo Kim, Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/07/18AKSAE_D052-2.pdf}, year = {2018}, date = {2018-11-14}, address = {The Korean Society of Automotive Engineers Annual Autumn Conference, Kangwon, Korea}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
Joonwoo Ahn, Minsoo Kim, Gyubeom Im, Minsung Kim, Jaeheung Park Development of Autonomous Valet Parking System and Simulation Result Conference/Workshop The Korean Society of Automotive Engineers Annual Autumn Conference, Kangwon , Korea, 14.11.2018. @misc{Ahn2018b, title = {Development of Autonomous Valet Parking System and Simulation Result }, author = {Joonwoo Ahn, Minsoo Kim, Gyubeom Im, Minsung Kim, Jaeheung Park }, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/07/20190704_055015.pdf}, year = {2018}, date = {2018-11-14}, address = {The Korean Society of Automotive Engineers Annual Autumn Conference, Kangwon , Korea}, abstract = {In this paper, we propose an efficient and safe method for autonomous valet parking system with a driving strategy considering uncertain environment in parking spaces. The proposed method consists of a vehicle controller with decision-making algorithms, a global and local path generation algorithm, and a three-dimensional LiDAR-based parking lot detection algorithm. The proposed method was validated via simulation results.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } In this paper, we propose an efficient and safe method for autonomous valet parking system with a driving strategy considering uncertain environment in parking spaces. The proposed method consists of a vehicle controller with decision-making algorithms, a global and local path generation algorithm, and a three-dimensional LiDAR-based parking lot detection algorithm. The proposed method was validated via simulation results. |
Gyubeom Im, Minsung Kim, Joonwoo Ahn, Minsoo Kim, Jaeheung Park V-Rep Simulator for Autonomous Vehicle Research in Parking lot Environment Conference/Workshop The Korean Society of Automotive Engineers Annual Autumn Conference, Kangwon, Korea, 14.11.2018. @misc{Im2018, title = {V-Rep Simulator for Autonomous Vehicle Research in Parking lot Environment}, author = {Gyubeom Im, Minsung Kim, Joonwoo Ahn, Minsoo Kim, Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/07/ksae2018_edward.pdf}, year = {2018}, date = {2018-11-14}, address = {The Korean Society of Automotive Engineers Annual Autumn Conference, Kangwon, Korea}, abstract = {In this paper, we propose an efficient and safe method for autonomous valet parking system with a driving strategy considering uncertain environment in parking spaces. The proposed method consists of a vehicle controller with decision-making algorithms, a global and local path generation algorithm, and a three-dimensional LiDAR-based parking lot detection algorithm. The proposed method was validated via simulation results.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } In this paper, we propose an efficient and safe method for autonomous valet parking system with a driving strategy considering uncertain environment in parking spaces. The proposed method consists of a vehicle controller with decision-making algorithms, a global and local path generation algorithm, and a three-dimensional LiDAR-based parking lot detection algorithm. The proposed method was validated via simulation results. |
Seungyeon Kim, Jaeheung Park Gripper with Thumb Adduction/Abduction Joint for Enhanced In-hand Orientation Manipulation Conference/Workshop 2018 IEEE-RAS International Conference on Humanoid Robots (Humanoids), Beijing, China, 06.11.2018. @misc{Kim2018b, title = {Gripper with Thumb Adduction/Abduction Joint for Enhanced In-hand Orientation Manipulation}, author = {Seungyeon Kim and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/01/Gripper-with-TAA-joint.pdf}, year = {2018}, date = {2018-11-06}, address = {2018 IEEE-RAS International Conference on Humanoid Robots (Humanoids), Beijing, China}, abstract = {A new gripper with a Thumb Adduction/Abduction joint (TAA joint) is presented in this study. The purpose of the proposed gripper is to enable the orientation control of an object along all axes using in-hand manipulation and the last wrist joint. Using TAA joint motion, it was possible to achieve not only stable grasping but also in-hand orientation control. The gripper can produce 13 out of 16 human grasp motions according to hand taxonomy, including four of the most used hand postures [1][2]. The grasping performance was evaluated using various objects. Some of them were tools for specific tasks such as electric drill, screwdriver, and hammer. The others were objects in daily life such as ball, CD, pen, cup, wallet, and card. To evaluate the capability of in-hand orientation control, the maximum ranges of rotations were also estimated using circular cross-sectional objects. The gripper can consecutively rotate the object along the roll and yaw directions, and this was demonstrated using a spherical object.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } A new gripper with a Thumb Adduction/Abduction joint (TAA joint) is presented in this study. The purpose of the proposed gripper is to enable the orientation control of an object along all axes using in-hand manipulation and the last wrist joint. Using TAA joint motion, it was possible to achieve not only stable grasping but also in-hand orientation control. The gripper can produce 13 out of 16 human grasp motions according to hand taxonomy, including four of the most used hand postures [1][2]. The grasping performance was evaluated using various objects. Some of them were tools for specific tasks such as electric drill, screwdriver, and hammer. The others were objects in daily life such as ball, CD, pen, cup, wallet, and card. To evaluate the capability of in-hand orientation control, the maximum ranges of rotations were also estimated using circular cross-sectional objects. The gripper can consecutively rotate the object along the roll and yaw directions, and this was demonstrated using a spherical object. |
Hosang Lee, Yisoo Lee, Jaeheung Park Contact-Consistent Disturbance Observer for Floating-base Robots Conference/Workshop 2018 International Symposium on Experimental Robotics, Buenos Aires, Nov 5-8, 06.11.2018. @misc{Lee2018b, title = {Contact-Consistent Disturbance Observer for Floating-base Robots}, author = {Hosang Lee and Yisoo Lee and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/02/20190209_150828.pdf}, year = {2018}, date = {2018-11-06}, address = {2018 International Symposium on Experimental Robotics, Buenos Aires, Nov 5-8}, abstract = {In this study, a novel disturbance observer for floating-base robots has been developed using contact information to reduce the estimation errors of joint accelerations. Typically, joint angles are measured using motor encoders and joint accelerations are computed by differentiating them twice in discrete time domain. Therefore, the estimated value inherently has a large numerical error, which is an obstacle for precise on-line estimation of the disturbance. The proposed method computes the joint acceleration error, which does not satisfy the kinematic constraints of the contact position such as a supporting foot of the robot, and incorporates it into the dynamics model to remove its effect on the disturbance torque solution. It is shown through experiments using a legged robot that the proposed contact-consistent observer can estimate the disturbance more accurately than an observer that does not consider contact information.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } In this study, a novel disturbance observer for floating-base robots has been developed using contact information to reduce the estimation errors of joint accelerations. Typically, joint angles are measured using motor encoders and joint accelerations are computed by differentiating them twice in discrete time domain. Therefore, the estimated value inherently has a large numerical error, which is an obstacle for precise on-line estimation of the disturbance. The proposed method computes the joint acceleration error, which does not satisfy the kinematic constraints of the contact position such as a supporting foot of the robot, and incorporates it into the dynamics model to remove its effect on the disturbance torque solution. It is shown through experiments using a legged robot that the proposed contact-consistent observer can estimate the disturbance more accurately than an observer that does not consider contact information. |
Junhyung Kim, Jaehoon Sim, Jaeheung Park Humanoid fall recovery strategy using air thrust Conference/Workshop WorkShop on “Humanoid Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions” at IROS 2018, Madrid, Spain, 01.10.2018. @misc{Kim2018b, title = {Humanoid fall recovery strategy using air thrust}, author = {Junhyung Kim, Jaehoon Sim and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/02/kim_iros_2018_ws_paper-1.pdf}, year = {2018}, date = {2018-10-01}, address = {WorkShop on “Humanoid Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions” at IROS 2018, Madrid, Spain}, abstract = {In this paper, we propose a fall recovery strategy for humanoid robot against an external force applied to lateral direction by using air thrusts. Each air thrust is attached on both sides of the shoulder of humanoid robot to recover from a fall. To distinguish the state of the humanoid robot, stable state (not falling) or unstable state (falling), we use capture point (CP) which is commonly used for fall detection of the humanoid robot before falling. Considering that the humanoid robot is falling when CP leaves the supporting foot, the air thrust generates force opposed to falling direction to recover the humanoid robot from a fall. After CP comes back inside of the supporting foot, the air thrust stops generating force. This paper also shows the real experimental results of the proposed method for fall recovery using DYROS-JET with air thrusts.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } In this paper, we propose a fall recovery strategy for humanoid robot against an external force applied to lateral direction by using air thrusts. Each air thrust is attached on both sides of the shoulder of humanoid robot to recover from a fall. To distinguish the state of the humanoid robot, stable state (not falling) or unstable state (falling), we use capture point (CP) which is commonly used for fall detection of the humanoid robot before falling. Considering that the humanoid robot is falling when CP leaves the supporting foot, the air thrust generates force opposed to falling direction to recover the humanoid robot from a fall. After CP comes back inside of the supporting foot, the air thrust stops generating force. This paper also shows the real experimental results of the proposed method for fall recovery using DYROS-JET with air thrusts. |
Sumin Park, Jaeheung Park Effect of Heel Area on Utilized Coefficient of Friction During High-Heeled Walking Conference/Workshop The 20th Congress of the International Ergonomics Association (IEA 2018), Florence, Italy, 29.08.2018. @misc{Park2018, title = {Effect of Heel Area on Utilized Coefficient of Friction During High-Heeled Walking}, author = {Sumin Park and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/02/Effect-of-heel-area-on-uCOF.pdf}, year = {2018}, date = {2018-08-29}, urldate = {2018-08-29}, journal = {The 20th Congress of the International Ergonomics Association (IEA 2018)}, volume = {819}, pages = {703-709}, publisher = {Springer}, address = {Florence, Italy}, series = {Advances in Intelligent Systems and Computing }, howpublished = {The 20th Congress of the International Ergonomics Association (IEA 2018)}, key = {Italy}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
Seung-Hun Kim, Sewoong Jun, Jaeheung Park Thermal Stereo System for Visible Range Extension of Disaster Robot Conference/Workshop IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Philadelphia, PA, USA, 6-8 Aug. 2018., 06.08.2018. @misc{Kim2018b, title = {Thermal Stereo System for Visible Range Extension of Disaster Robot}, author = {Seung-Hun Kim and Sewoong Jun and Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/03/Thermal-Stereo-System-for-Visible-Range-Extension-of-Disaster-Robot_SSRR_201.pdf}, doi = {10.1109/SSRR.2018.8468629}, year = {2018}, date = {2018-08-06}, booktitle = {Thermal Stereo System for Visible Range Extension of Disaster Robot}, address = {IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Philadelphia, PA, USA, 6-8 Aug. 2018.}, abstract = {This paper presents a thermal stereo system to extend a visual range for disaster robots in the heavy smoke situation. A thermal camera is a sensor that can detect the temperature of an object in heavy smoke situations and at the same time recognize the surrounding environment. In addition, the thermal stereo, which is composed of two thermal cameras, has a wide angle of view and can be used in the fire environment because it can acquire shape and distance information of the object even in the heavy smoke situation.}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } This paper presents a thermal stereo system to extend a visual range for disaster robots in the heavy smoke situation. A thermal camera is a sensor that can detect the temperature of an object in heavy smoke situations and at the same time recognize the surrounding environment. In addition, the thermal stereo, which is composed of two thermal cameras, has a wide angle of view and can be used in the fire environment because it can acquire shape and distance information of the object even in the heavy smoke situation. |
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. @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. @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 Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots), 27.06.2018. @misc{Park2018, title = {Intuitive Path Generation Platform for Multiple Robots applicable to New Media Contents}, author = {Beomyeong Park and Jimin Lee and Sangyup Yi and 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}, address = {Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots)}, 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. |
Minsung Kim, Jaeheung Park Autonomous Parking using Sampling-Based Path Planning and Model Predictive Control Conference/Workshop The Korean Society of Automotive Engineers Annual Spring Conference, Jeju Island, Korea, 20.06.2018. @misc{Kim2018b, title = {Autonomous Parking using Sampling-Based Path Planning and Model Predictive Control}, author = {Minsung Kim, Jaeheung Park}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2019/07/18SKSAE_D111-1.pdf}, year = {2018}, date = {2018-06-20}, address = {The Korean Society of Automotive Engineers Annual Spring Conference, Jeju Island, Korea}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
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. @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. @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. @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} } |
2020 |
간접적ZMP최적화를 통한 작업공간 전신 토크제어 Conference/Workshop 11.02.2020. |
Failure Recovery Strategy for Linear Triple Peg-in-Hole Assembly Conference/Workshop The 15th Korea Robotics Society Annual Conference, Kangwon, Pyeongchang, 11.02.2020. |
ZMP를 고려한 수직 방향의 무게 중심 궤적 생성 Conference/Workshop The 15th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, 10.02.2020. |
주어진 힘에 대해 관절 토크를 최소화하는 역기구학 Conference/Workshop Forthcoming The 15th Korea Robotics Society Annual Conference, Pyeongchang, Korea, 10.02.2020. |
조이스틱을 사용한 휴머노이드 로봇 보행 전략(Humanoid robot walking strategy using joystick) Conference/Workshop The 15th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, 10.02.2020. |
2019 |
Global Planning Method for Visiting Roads with Parking Spaces in Priority using Rural Postman Problem Conference/Workshop 2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, 18.11.2019. |
Operational Space Control Framework for Torque Controlled Humanoid Robots with Joint Elasticity Conference/Workshop 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 03.11.2019. |
Vertical COM Motion Generation to Reduce Slipping and Mechanical Work during Walking Conference/Workshop IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada, Kanako Miura Award, 17.10.2019. |
Keynote talks: Whole-body-control Conference/Workshop IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada, 16.10.2019. |
Whole-body Control of Non-holonomic Mobile Manipulator Based on Hierarchical Quadratic Programming and Continuous Task Transition Conference/Workshop IEEE International Conference on Advanced Robotics & Mechatronics (ARM), Osaka, Japan, Best Conference Paper Award, 03.07.2019. |
Kinesthetic Teaching of Position-Controlled Robot Manipulators Using Disturbance Observer Conference/Workshop Forthcoming Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea, 24.06.2019. |
End-To-End Driving in Unstructured Environments Using Conditional Imitation Learning Conference/Workshop Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea, 24.06.2019. |
Reinforcement Learning to Drive in Unstructured Environments Conference/Workshop Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea, 24.06.2019. |
Real-Time Segmentation of Drivable Area Using Supervised Learning Conference/Workshop Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea, 24.06.2019. |
Kinematic Parameter Calibration for Humanoid Robot Using Relative Pose Measurement in Walking Motion Conference/Workshop Conference, Ubiquitous Robots 2019 (The 16th International Conference on Ubiquitous Robots), Jeju, Korea, 24.06.2019. |
Online Walking Pattern Generation for Humanoid Robot with Compliant Motion Control Conference/Workshop IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 20.05.2019. |
Design of Configuration-changeable Modular Robot Test Platform Conference/Workshop The 34rd Institute of Control, Robotics and Systems Annual Conference (ICROS 2019), Gyeongju, Korea, 17.05.2019. |
Humanoid Fall Recovery Strategy using Air Thrust Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 23.01.2019. |
A Comparative Study of Tracking Control with Closed Loop Inverse Kinematics Algorithm Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 23.01.2019. |
Self-collision avoidance algorithm for robot manipulator using continuous task transition algorithm Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, , 22.01.2019. |
SOEM을 이용한 실시간 휴머노이드 로봇 제어 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. |
휴머노이드 구동을 위한 딥러닝 음성인식 인터페이스 개발 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. |
로봇을 제어하는 족동식 사용자 인터페이스 개발 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. |
카메라센서와 라이다 센서 융합에 기반한 개선된 주차공간 검출 시스템 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. |
로봇 핸드 제어를 위한 실시간 손 동작 영상 인식 시스템 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. |
Experiential boarding robot system using industrial robot Conference/Workshop 22.01.2019. |
속도 관측기를 이용한 토크 기반 로봇 제어에서의 위치 추종 성능 향상 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. |
비전 센서와 능동적 접촉 인지 제어 방법을 융합한 외부 물체의 접촉 인지 및 모서리 예측 전략 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. |
힘-토크 센서와 전신 동역학 모델을 융합한 보행 로봇의 접촉력 추정 Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea,, 22.01.2019. |
In-hand rolling motion generation using underactuated fingers with Four-bar linkage chains Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, 21.01.2019. |
Design Improvement of Compliant Anti-Gravity Rehabilitation Robot for Lumbar Pain Patients Conference/Workshop The 14th Korea Robotics Society Annual Conference, Pyeongchang ,Korea, 21.01.2019. |
System Design of Humanoid Robot DYROS-JET Conference/Workshop 2019 IEEE/SICE International Symposium on System Integration, Paris, France, 16.01.2019. |
2018 |
Autonomous parking algorithm using automatic selection of forward and backward switching points via model predictive control Conference/Workshop The Korean Society of Automotive Engineers Annual Autumn Conference, Kangwon, Korea, 14.11.2018. |
Development of Autonomous Valet Parking System and Simulation Result Conference/Workshop The Korean Society of Automotive Engineers Annual Autumn Conference, Kangwon , Korea, 14.11.2018. |
V-Rep Simulator for Autonomous Vehicle Research in Parking lot Environment Conference/Workshop The Korean Society of Automotive Engineers Annual Autumn Conference, Kangwon, Korea, 14.11.2018. |
Gripper with Thumb Adduction/Abduction Joint for Enhanced In-hand Orientation Manipulation Conference/Workshop 2018 IEEE-RAS International Conference on Humanoid Robots (Humanoids), Beijing, China, 06.11.2018. |
Contact-Consistent Disturbance Observer for Floating-base Robots Conference/Workshop 2018 International Symposium on Experimental Robotics, Buenos Aires, Nov 5-8, 06.11.2018. |
Humanoid fall recovery strategy using air thrust Conference/Workshop WorkShop on “Humanoid Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions” at IROS 2018, Madrid, Spain, 01.10.2018. |
Effect of Heel Area on Utilized Coefficient of Friction During High-Heeled Walking Conference/Workshop The 20th Congress of the International Ergonomics Association (IEA 2018), Florence, Italy, 29.08.2018. |
Thermal Stereo System for Visible Range Extension of Disaster Robot Conference/Workshop IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Philadelphia, PA, USA, 6-8 Aug. 2018., 06.08.2018. |
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. |
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. |
Intuitive Path Generation Platform for Multiple Robots applicable to New Media Contents Conference/Workshop Ubiquitous Robots 2018 (The 15th International Conference on Ubiquitous Robots), 27.06.2018. |
Autonomous Parking using Sampling-Based Path Planning and Model Predictive Control Conference/Workshop The Korean Society of Automotive Engineers Annual Spring Conference, Jeju Island, Korea, 20.06.2018. |
Reactive Bipedal Walking Method for Torque Controlled Robot Conference/Workshop 2018 International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 22.05.2018. |
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. |
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. |
Performance Evaluation of Lumbar Stabilization Exercise Robot Considering Body Load Conference/Workshop The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea, 22.01.2018. |
Robust calibration of spinning 2D LiDAR extrinsic parameters Conference/Workshop The 13th Korea Robotics Society Annual Conference, Hoengseong ,Korea, 22.01.2018. |
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. |