2014
|
Jaeheung Park Synthesis and Control of Natural Human Walking. Conference/Workshop Invited speaker at the Workshop “Latest Advances on Natural Motion Understanding and Human Motion Synthesis”, International Conference on Robotics and Automation (ICRA), Hong Kong, China, 31.05.2014. @misc{Park2014b,
title = {Synthesis and Control of Natural Human Walking.},
author = {Jaeheung Park},
year = {2014},
date = {2014-05-31},
address = {Invited speaker at the Workshop “Latest Advances on Natural Motion Understanding and Human Motion Synthesis”, International Conference on Robotics and Automation (ICRA), Hong Kong, China},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Chang Geun Oh, Jaeheung Park From Mechanical Metamorphosis to Empathic Interaction: A Historical Overview of Robotic Creatures. Conference/Workshop ACM/IEEE Interantional Conference on Human-Robot Interaction, 3rd-7th March 2014, CITEC, Bielefeld University, Germany, 05.02.2014. Links @misc{Oh2014b,
title = {From Mechanical Metamorphosis to Empathic Interaction: A Historical Overview of Robotic Creatures. },
author = {Chang Geun Oh and Jaeheung Park},
url = {http://humanrobotinteraction.org/journal/index.php/HRI/article/view/176. paper},
year = {2014},
date = {2014-02-05},
pages = {Feb},
address = {ACM/IEEE Interantional Conference on Human-Robot Interaction, 3rd-7th March 2014, CITEC, Bielefeld University, Germany},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2013
|
Sanghyun Kim, Jimin Lee, Mingon Kim, Jaeheung Park Teleoperated Robot Hand Control using Tensor Decomposition Conference/Workshop Full-day Tutorial on Robotics-based Methods for the Identification, Recognition, and Synthesis of Human Motions, IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, 03.11.2013. Links @misc{Kim2013b,
title = {Teleoperated Robot Hand Control using Tensor Decomposition},
author = {Sanghyun Kim and Jimin Lee and Mingon Kim and Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2014/07/페이지_-Iros2013-tutorial-ver-5.pdf, paper},
year = {2013},
date = {2013-11-03},
address = {Full-day Tutorial on Robotics-based Methods for the Identification, Recognition, and Synthesis of Human Motions, IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Peter Ki Kim, Ji-Hun Bae, Jae-Han Park, Moon-Hong Baeg, Jaeheung Park Control Strategy for Simultaneously Inserting Multiple Boxes with Dual Arm Manipulator Conference/Workshop 2013 10th International Conference on Ubiquitous Robotis and Ambient Intelligence, Jeju, Korea, 02.11.2013. Links @misc{Kim2017,
title = {Control Strategy for Simultaneously Inserting Multiple Boxes with Dual Arm Manipulator},
author = {Peter Ki Kim and Ji-Hun Bae and Jae-Han Park and Moon-Hong Baeg and Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2013/05/URAI_2013_LGBox.pdf, paper},
year = {2013},
date = {2013-11-02},
address = {2013 10th International Conference on Ubiquitous Robotis and Ambient Intelligence, Jeju, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Hyeonjun Park, Ji-Hun Bae, Jae-Han Park, Moon-Hong Baeg, Jaeheung Park Intuitive Peg-in-hole Assembly Strategy with a Compliant Manipulator Conference/Workshop International Symposium on Robotics (ISR), Seoul, Korea, 26.10.2013. Links @misc{Park2013b,
title = {Intuitive Peg-in-hole Assembly Strategy with a Compliant Manipulator },
author = {Hyeonjun Park and Ji-Hun Bae and Jae-Han Park and Moon-Hong Baeg and Jaeheung Park },
url = {http://ieeexplore.ieee.org/document/6695699/?arnumber=6695699, paper},
year = {2013},
date = {2013-10-26},
address = {International Symposium on Robotics (ISR), Seoul, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Jimin Lee, Joowan Kim, Jaeheung Park Classification Of Grip Configuration Using Surface EMG. Conference/Workshop 2013 13th International Conference on Control, Automation and Systems, in Kimdaejung convention center, Gwangju, Korea, 23.10.2013. Links @misc{Lee2013b,
title = {Classification Of Grip Configuration Using Surface EMG.},
author = {Jimin Lee and Joowan Kim and Jaeheung Park},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2013/05/Classification-of-Grip-Configuration-Using-Surface-EMG.pdf, paper},
year = {2013},
date = {2013-10-23},
address = {2013 13th International Conference on Control, Automation and Systems, in Kimdaejung convention center, Gwangju, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Yisoo Lee, Jaeheung Park Velocity Tracking Algorithm in Forward Walking using Estimated ZMP by Whole-Body Control Framework. Conference/Workshop IEEE-RAS international conference on humanoid robots 2013, Atlanta, USA, 17.10.2013. Links @misc{Lee2013b,
title = {Velocity Tracking Algorithm in Forward Walking using Estimated ZMP by Whole-Body Control Framework.},
author = {Yisoo Lee and Jaeheung Park },
url = {http://dyros.snu.ac.kr/wp-content/uploads/2013/10/0074_published.pdf, paper},
year = {2013},
date = {2013-10-17},
address = {IEEE-RAS international conference on humanoid robots 2013, Atlanta, USA},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Chang Geun Oh, Jaeheung Park The Kinetic Xylophone: An Interactive Musical Instrument Embedding Motorized Mallets Conference/Workshop International Symposium on Human-Robot Interactive Communication (Ro-Man), Gyeongju, Korea, 29.08.2013. Abstract @misc{Oh2013,
title = {The Kinetic Xylophone: An Interactive Musical Instrument Embedding Motorized Mallets },
author = {Chang Geun Oh and Jaeheung Park },
year = {2013},
date = {2013-08-29},
address = {International Symposium on Human-Robot Interactive Communication (Ro-Man), Gyeongju, Korea},
abstract = {http://dyros.snu.ac.kr/wp-content/uploads/2013/05/RoMANvideo-OH4.pdf, video paper
http://dyros.snu.ac.kr/wp-content/uploads/2013/05/Kinetic-Xylophone_Oh_rev.mp4, video file},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
http://dyros.snu.ac.kr/wp-content/uploads/2013/05/RoMANvideo-OH4.pdf, video paper
http://dyros.snu.ac.kr/wp-content/uploads/2013/05/Kinetic-Xylophone_Oh_rev.mp4, video file |
Hyeonjun Park, Peter ki Kim, Ji-Hun Bae, Jae-Han Park, Moon-Hong Baeg, Sung-Woo Park and Jaeheung Park Intuitive Peg-in-Hole Assembly by a Compliant Manipulator Conference/Workshop The 8th Korea Robotics Society Annual Conference (KROC), chuncheon, Korea, 31.05.2013. Abstract @misc{Park2013b,
title = {Intuitive Peg-in-Hole Assembly by a Compliant Manipulator},
author = {Hyeonjun Park and Peter ki Kim and Ji-Hun Bae and Jae-Han Park and Moon-Hong Baeg and Sung-Woo Park and Jaeheung Park},
year = {2013},
date = {2013-05-31},
address = {The 8th Korea Robotics Society Annual Conference (KROC), chuncheon, Korea},
abstract = {http://dyros.snu.ac.kr/publications2/dyros.snu.ac.kr/paper/KROC2013_hyunjun.pdf, paper},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
http://dyros.snu.ac.kr/publications2/dyros.snu.ac.kr/paper/KROC2013_hyunjun.pdf, paper |
Jaeheung Park Active Sensing Strategies For Contact With Compliant Whole-Bobdy Control Framework. Conference/Workshop Invited speaker at the Workshop “Whole-body Compliant Dynamical Contacts for Humanoid Robotics”, International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 10.05.2013. @misc{Park2013b,
title = {Active Sensing Strategies For Contact With Compliant Whole-Bobdy Control Framework.},
author = {Jaeheung Park},
year = {2013},
date = {2013-05-10},
address = {Invited speaker at the Workshop “Whole-body Compliant Dynamical Contacts for Humanoid Robotics”, International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Chang Geun Oh, Jaeheung Park Digital Kinetic Art: A Bridge Across the Uncanny Valley of Robotic Art Conference/Workshop Speaker at the Workshop “Art and Robotics-Freud’s Unheimlich and the Uncanny Valley”, International Conference on Robotics and Automation (ICRA) 2013, Karlsruhe, Germany, 10.05.2013. Links @misc{Oh2013b,
title = {Digital Kinetic Art: A Bridge Across the Uncanny Valley of Robotic Art },
author = {Chang Geun Oh and Jaeheung Park },
url = {http://dyros.snu.ac.kr/wp-content/uploads/2013/06/ICRA2013_WS11_Oh_revB.pdf, workshop paper
http://dyros.snu.ac.kr/wp-content/uploads/2013/06/Digital_Kinetic_Art-DyRoS.pdf, presentation slides},
year = {2013},
date = {2013-05-10},
address = {Speaker at the Workshop “Art and Robotics-Freud’s Unheimlich and the Uncanny Valley”, International Conference on Robotics and Automation (ICRA) 2013, Karlsruhe, Germany},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Chang Geun Oh, Jaeheung Park Digital Kinetic Art: A Bridge Across the Uncanny Valley of Robotic Art Conference/Workshop Speaker at the Workshop “Art and Robotics-Freud’s Unheimlich and the Uncanny Valley”, International Conference on Robotics and Automation (ICRA) 2013, Karlsruhe, Germany, 10.05.2013. @misc{Oh2013b,
title = {Digital Kinetic Art: A Bridge Across the Uncanny Valley of Robotic Art },
author = {Chang Geun Oh and Jaeheung Park },
year = {2013},
date = {2013-05-10},
address = {Speaker at the Workshop “Art and Robotics-Freud’s Unheimlich and the Uncanny Valley”, International Conference on Robotics and Automation (ICRA) 2013, Karlsruhe, Germany},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Chang Geun Oh, Jaeheung Park Digital Kinetic Art: A Bridge Across the Uncanny Valley of Robotic Art Conference/Workshop Speaker at the Workshop “Art and Robotics-Freud’s Unheimlich and the Uncanny Valley”, International Conference on Robotics and Automation (ICRA) 2013, Karlsruhe, Germany, 10.05.2013. @misc{Oh2013b,
title = {Digital Kinetic Art: A Bridge Across the Uncanny Valley of Robotic Art },
author = {Chang Geun Oh and Jaeheung Park },
year = {2013},
date = {2013-05-10},
address = {Speaker at the Workshop “Art and Robotics-Freud’s Unheimlich and the Uncanny Valley”, International Conference on Robotics and Automation (ICRA) 2013, Karlsruhe, Germany},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2012
|
Hyejin Han, Jaemin Lee, Jaeheung Park A Continuous Task Transition Algorithm for Operational Space Control Framework. Conference/Workshop International Conference on Ubiquitous Robots and Ambient Intelligence(URAI), Daejeon, Korea, 29.11.2012. Abstract @misc{Han2012,
title = {A Continuous Task Transition Algorithm for Operational Space Control Framework.},
author = {Hyejin Han and Jaemin Lee and Jaeheung Park },
year = {2012},
date = {2012-11-29},
address = {International Conference on Ubiquitous Robots and Ambient Intelligence(URAI), Daejeon, Korea},
abstract = {http://dyros.snu.ac.kr/paper/Urai2012_hyejin_final.pdf, paper},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
http://dyros.snu.ac.kr/paper/Urai2012_hyejin_final.pdf, paper |
Yongtae Kim, Changyong Song, Jaeheung Park Development of Actuation System for Wearable Robots using Spiral Spring. Conference/Workshop 2012 12th International Conference on Control, Automation and Systems, in ICC, Jeju Island, Korea, 21.10.2012. Links @misc{Kim2012,
title = {Development of Actuation System for Wearable Robots using Spiral Spring.},
author = {Yongtae Kim and Changyong Song and Jaeheung Park},
url = {http://dyros.snu.ac.kr/paper/ICCAS2012_YT.pdf, paper},
year = {2012},
date = {2012-10-21},
address = {2012 12th International Conference on Control, Automation and Systems, in ICC, Jeju Island, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Sumin Park, Minho Lee, Jaeheung Park How to generate natural female walking with high heels? Conference/Workshop Dynamic Walking, Pensacola, USA, 25.05.2012. Links @misc{Park2012,
title = {How to generate natural female walking with high heels?},
author = {Sumin Park and Minho Lee and Jaeheung Park},
url = {http://dyros.snu.ac.kr/paper/SuminPark_DWC2012.pdf, paper},
year = {2012},
date = {2012-05-25},
address = {Dynamic Walking, Pensacola, USA},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Minsung Kim, Jaeheung Park, Junghoon Kwon The Research of 2D GEI using Motion Capture Data. Conference/Workshop Human Computer Interaction Conference, pyeongchang, Korea, 13.01.2012. Links @misc{Kim2012b,
title = {The Research of 2D GEI using Motion Capture Data.},
author = {Minsung Kim and Jaeheung Park and Junghoon Kwon},
url = {http://dyros.snu.ac.kr/paper/Minsungkim_HCI2012.pdf, paper},
year = {2012},
date = {2012-01-13},
address = {Human Computer Interaction Conference, pyeongchang, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2011
|
Peter K. Kim, Yisoo Lee, Jaeheung Park Twisting Door Handle with Manipulator Under Uncertainty. Conference/Workshop International Conference on Ubiquitous Robots and Ambient Intelligence, Inchon, Korea, 26.11.2011. Links @misc{Kim2011,
title = {Twisting Door Handle with Manipulator Under Uncertainty.},
author = {Peter K. Kim and Yisoo Lee and Jaeheung Park},
url = {http://dyros.snu.ac.kr/paper/Peterkim_URAI2011.pdf, paper},
year = {2011},
date = {2011-11-26},
address = {International Conference on Ubiquitous Robots and Ambient Intelligence, Inchon, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Seho Shin, Yisoo Lee, Jaeheung Park Implementation of Torque-based Control on Industrial Robot for Human-Robot Cooperation. Conference/Workshop International Symposium on Advanced Intelligent Systems, Suwon, Korea, 01.10.2011. Links @misc{Shin2011,
title = {Implementation of Torque-based Control on Industrial Robot for Human-Robot Cooperation.},
author = {Seho Shin and Yisoo Lee and Jaeheung Park},
url = {http://dyros.snu.ac.kr/paper/ISIS2011_Shin.pdf, paper},
year = {2011},
date = {2011-10-01},
address = {International Symposium on Advanced Intelligent Systems, Suwon, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Jaemin Lee, Nicolas Mansard, Jaeheung Park Intermediate Desired Value Approach for Continuous Transition among Multiple Tasks of Robots. Conference/Workshop International Conference on Robotics and Automation, Shanghai, China, 13.05.2011. Links @misc{Lee2011,
title = {Intermediate Desired Value Approach for Continuous Transition among Multiple Tasks of Robots.},
author = {Jaemin Lee and Nicolas Mansard and Jaeheung Park},
url = {http://dyros.snu.ac.kr/paper/task_transition_final.pdf, paper},
year = {2011},
date = {2011-05-13},
address = {International Conference on Robotics and Automation, Shanghai, China},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2010
|
Francois Conti, Jaeheung Park, Oussama Khatib Interface Design and Control Strategies for a Robot Assisted Ultrasonic Examination System. Conference/Workshop International Symposium on Experimental Robotics, New Delhi, India, 21.12.2010. Links @misc{Conti2010,
title = {Interface Design and Control Strategies for a Robot Assisted Ultrasonic Examination System.},
author = {Francois Conti and Jaeheung Park and Oussama Khatib},
url = {http://link.springer.com/chapter/10.1007/978-3-642-28572-1_7, paper},
year = {2010},
date = {2010-12-21},
address = {International Symposium on Experimental Robotics, New Delhi, India},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Yoonho Na, Jaeheung Park Statistical Indices for Inertial Properties of Haptic Devices. Conference/Workshop International Conference on Ubiquitous Robots and Ambient Intelligence, Busan, Korea, 27.11.2010. Links @misc{Na2010,
title = {Statistical Indices for Inertial Properties of Haptic Devices.},
author = {Yoonho Na and Jaeheung Park},
url = {http://dyros.snu.ac.kr/paper/URAI2010_YoonhoNa.pdf, paper},
year = {2010},
date = {2010-11-27},
address = {International Conference on Ubiquitous Robots and Ambient Intelligence, Busan, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Hooman Lee, Jaeheung Park Active Sensing Strategy for Contact Location Using Robot Kinematics and Geometry. Conference/Workshop International Conference on Ubiquitous Robots and Ambient Intelligence, Busan, Korea, 27.11.2010. Links @misc{Lee2010,
title = {Active Sensing Strategy for Contact Location Using Robot Kinematics and Geometry.},
author = {Hooman Lee and Jaeheung Park},
url = {http://dyros.snu.ac.kr/paper/URAI2010_LeeHooman.pdf, paper},
year = {2010},
date = {2010-11-27},
address = {International Conference on Ubiquitous Robots and Ambient Intelligence, Busan, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2009
|
Luis Sentis, Jaeheung Park, Oussama Khatib Modeling and Control of Multi-Contact Centers of Pressure and Internal Forces in Humanoid Robots. Conference/Workshop International Conference on Intelligent Robots and Systems, St. Louis, USA, 15.10.2009. Links @misc{Sentis2009,
title = {Modeling and Control of Multi-Contact Centers of Pressure and Internal Forces in Humanoid Robots.},
author = {Luis Sentis and Jaeheung Park and Oussama Khatib},
url = {http://dyros.snu.ac.kr/paper/IROS2009.pdf, paper},
year = {2009},
date = {2009-10-15},
address = {International Conference on Intelligent Robots and Systems, St. Louis, USA},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2008
|
Taizo Yoshikawa, Jaeheung Park, Oussama Khatib The Torque to Position Transformer: A Framework for Compliant Motion Control of Industrial Position-Controlled Robots. Conference/Workshop International Symposium on Robotics, Seoul, Korea, 15.10.2008. @misc{Yoshikawa2008,
title = {The Torque to Position Transformer: A Framework for Compliant Motion Control of Industrial Position-Controlled Robots.},
author = {Taizo Yoshikawa and Jaeheung Park and Oussama Khatib},
year = {2008},
date = {2008-10-15},
address = {International Symposium on Robotics, Seoul, Korea},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Oussama Khatib, Peter Thaulad, Taizo Yoshikawa, Jaeheung Park Torque-Position Transformer for Task Control of Position Controlled Robots. Conference/Workshop International Conference on Robotics and Automation, Pasadena, California, USA, 23.05.2008. Links @misc{Khatib2008,
title = {Torque-Position Transformer for Task Control of Position Controlled Robots.},
author = {Oussama Khatib and Peter Thaulad and Taizo Yoshikawa and Jaeheung Park},
url = {http://dyros.snu.ac.kr/paper/ICRA2008.pdf, paper},
year = {2008},
date = {2008-05-23},
address = {International Conference on Robotics and Automation, Pasadena, California, USA},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2007
|
I. Sardellitti, J. Park, D. Shin, O. Khatib. Air Muscle Controller Design in the Distributed Macro-Mini (DM2) Actuation Approach. Conference/Workshop International Conference on Intelligent Robots and Systems, San Diego, California, 15.10.2007. Links @misc{Sardellitti2007,
title = {Air Muscle Controller Design in the Distributed Macro-Mini (DM2) Actuation Approach.},
author = {I. Sardellitti and J. Park, D. Shin and O. Khatib.},
url = {http://ai.stanford.edu/~park73/papers/Iros2007_THEFINAL.pdf, paper},
year = {2007},
date = {2007-10-15},
address = {International Conference on Intelligent Robots and Systems, San Diego, California},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2006
|
J. Park, O. Khatib. Contact Consistent Control Framework for Humanoid Robots. Conference/Workshop International Conference on Robotics and Automation, presented at Orlando, Florida, 19.05.2006. Abstract @misc{Park2006,
title = {Contact Consistent Control Framework for Humanoid Robots.},
author = {J. Park and O. Khatib.},
year = {2006},
date = {2006-05-19},
address = {International Conference on Robotics and Automation, presented at Orlando, Florida},
abstract = {http://ai.stanford.edu/~park73/papers/Jaeheung-ICRA2006.pdf, paper},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
http://ai.stanford.edu/~park73/papers/Jaeheung-ICRA2006.pdf, paper |
2005
|
Kyoobin Lee, Jaeheung Park, Oussama Khatib, Dong-Soo Kwon Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobile Robot Conference/Workshop Monterey, California, USA, 26.09.2005. Abstract | Links @misc{Lee2005b,
title = {Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobile Robot},
author = {Kyoobin Lee, Jaeheung Park, Oussama Khatib, Dong-Soo Kwon},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2020/02/Feedforward-Global-Inertial-Sensor-Fusion-Algorithm-for-Accurate.pdf},
year = {2005},
date = {2005-09-26},
booktitle = {Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobile Robot},
journal = {2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.},
address = {Monterey, California, USA},
abstract = { This paper introduces a coordinate transform method for global/inertial sensor fusion minimizing modification of an existing control program of a mobile robot.
Most of GPS/INS sensor fusion algorithms use Kalman filters and modify the INS states by feedback loops. Because the structure of the proposed method has a feedforward filter, the proposed method has an advantage in case the user does not want to change an existing control program of mobile robot.
The feedback type Kalman filter is designed so that the error between global position from GPS and odometry from INS converges to zero. Therefore the coordinate matching between the odometry and measured global position is not necessary in those approaches. However, in the feedforward structure described in this paper, the errors gradually increase over time.
A coordinate transform method has been developed for dealing with the error. This method provides an easy way to make an add-on function without any changes in the existing functions of the control program of a mobile robot. },
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
This paper introduces a coordinate transform method for global/inertial sensor fusion minimizing modification of an existing control program of a mobile robot.
Most of GPS/INS sensor fusion algorithms use Kalman filters and modify the INS states by feedback loops. Because the structure of the proposed method has a feedforward filter, the proposed method has an advantage in case the user does not want to change an existing control program of mobile robot.
The feedback type Kalman filter is designed so that the error between global position from GPS and odometry from INS converges to zero. Therefore the coordinate matching between the odometry and measured global position is not necessary in those approaches. However, in the feedforward structure described in this paper, the errors gradually increase over time.
A coordinate transform method has been developed for dealing with the error. This method provides an easy way to make an add-on function without any changes in the existing functions of the control program of a mobile robot. |
Kyoobin Lee, Jaeheung Park, Oussama Khatib,, Dong-Soo Kwon Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobil Robot Conference/Workshop IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, USA, 25.07.2005. Links @misc{Lee2005,
title = {Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobil Robot},
author = {Kyoobin Lee, Jaeheung Park, Oussama Khatib, and Dong-Soo Kwon},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2020/02/untitled.pdf},
year = {2005},
date = {2005-07-25},
address = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, USA},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
Jaeheung Park Constrained motion strategies for robotic systems Conference/Workshop Ph.D. Defense at Stanford University, 25.05.2005. Links @misc{Park2005,
title = {Constrained motion strategies for robotic systems},
author = {Jaeheung Park},
url = {http://ai.stanford.edu/~park73/presentations/defense-2.pdf, presentation
http://ai.stanford.edu/groups/manips/files/Jaeheung-Park-defense.zip, presentation with movies (300MB)},
year = {2005},
date = {2005-05-25},
address = {Ph.D. Defense at Stanford University},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
J. Park, O. Khatib. Multi-Link Multi-Contact Force Control for Manipulators. Conference/Workshop International Conference on Robotics and Automation, presented at Barcelona, Spain, 22.04.2005. Links @misc{Park2005b,
title = {Multi-Link Multi-Contact Force Control for Manipulators.},
author = {J. Park and O. Khatib.},
url = {http://ai.stanford.edu/~park73/papers/Jaeheung-ICRA2005.pdf, paper
http://ai.stanford.edu/~park73/presentations/multi-link.avi, movie},
year = {2005},
date = {2005-04-22},
address = {International Conference on Robotics and Automation, presented at Barcelona, Spain},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2004
|
J. Park, O. Khatib. Robust Haptic Teleoperation of a Mobile Manipulation Platform.. Conference/Workshop International Symposium on Experimental robotics, Singapore, 21.06.2004. Abstract @misc{Park2004,
title = {Robust Haptic Teleoperation of a Mobile Manipulation Platform..},
author = {J. Park and O. Khatib.},
year = {2004},
date = {2004-06-21},
address = {International Symposium on Experimental robotics, Singapore},
abstract = {http://ai.stanford.edu/~park73/papers/Jaeheung-ISER2004.pdf, paper
http://ai.stanford.edu/~park73/presentations/iser2004-exp-low.mov, movie: experiments
http://ai.stanford.edu/~park73/presentations/dinnertable-low.mov, movie: setting a dinner table},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
http://ai.stanford.edu/~park73/papers/Jaeheung-ISER2004.pdf, paper
http://ai.stanford.edu/~park73/presentations/iser2004-exp-low.mov, movie: experiments
http://ai.stanford.edu/~park73/presentations/dinnertable-low.mov, movie: setting a dinner table |
R. Cortesao, J. Park, O. Khatib. Model-Reference Adaptive Control for Haptic Teleopresence. Conference/Workshop IMS International Forum, Global Challenges in Manufacturing, Part I, pp.540-547, Villa Erba, Gernobbio, Italy, 19.05.2004. @misc{Cortesao2004,
title = {Model-Reference Adaptive Control for Haptic Teleopresence.},
author = {R. Cortesao and J. Park and O. Khatib.},
year = {2004},
date = {2004-05-19},
pages = {pp.540-547},
address = {IMS International Forum, Global Challenges in Manufacturing, Part I, pp.540-547, Villa Erba, Gernobbio, Italy},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
J. Park, R. Cortesao, O. Khatib. Multi-Contact Compliant Motion Control for Robotic Manipulators. Conference/Workshop International Conference on Robotics and Automation, New Orleans, LA., U.S.A., 01.05.2004. Links @misc{Park2004b,
title = {Multi-Contact Compliant Motion Control for Robotic Manipulators.},
author = {J. Park and R. Cortesao and O. Khatib.},
url = {http://ai.stanford.edu/~park73/papers/Jaeheung-ICRA2004.pdf, paper
http://ai.stanford.edu/~park73/presentations/Jaeheung-ICRA2004-presentation.pdf, presentation
http://ai.stanford.edu/~park73/presentations/multi_result_small.mov, movie: results
http://ai.stanford.edu/~park73/presentations/multi_second_small.mov, movie: different anlges
http://ai.stanford.edu/~park73/presentations/multi_bad_small.mov, movie: with/without noise adaptation},
year = {2004},
date = {2004-05-01},
address = {International Conference on Robotics and Automation, New Orleans, LA., U.S.A.},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
2003
|
R. Cortesao, J. Park, O. Khatib. Real-Time Adaptive Control for Haptic Manipulation with Active Observers. Conference/Workshop International Conference on Intelligent Robots and Systems, pp.2938-2943, Las Vegas, Nevada, U.S.A., 31.10.2003. Links @misc{Cortesao2003,
title = {Real-Time Adaptive Control for Haptic Manipulation with Active Observers.},
author = {R. Cortesao and J. Park and O. Khatib.},
url = {http://ai.stanford.edu/~park73/papers/Jaeheung-IROS2003.pdf, paper},
year = {2003},
date = {2003-10-31},
pages = {pp.2938-2943},
address = {International Conference on Intelligent Robots and Systems, pp.2938-2943, Las Vegas, Nevada, U.S.A.},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
J. Park, R. Cortesao, O. Khatib. Robust and Adaptive Teleoperation for compliant motion tasks. Conference/Workshop International Conference on Advanced Robotics, pp.513-519, Portugal, Jun 2003, 15.06.2003. Links @misc{Park2003,
title = {Robust and Adaptive Teleoperation for compliant motion tasks.},
author = {J. Park and R. Cortesao and O. Khatib.},
url = {http://ai.stanford.edu/~park73/papers/Jaeheung-ICAR2003.pdf, paper
http://ai.stanford.edu/~park73/presentations/HapticsGood.WMV, movie: haptic teleoperation},
year = {2003},
date = {2003-06-15},
pages = {pp.513-519},
address = {International Conference on Advanced Robotics, pp.513-519, Portugal, Jun 2003},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
