4 papers
Dynamic Humanoid Locomotion over Uneven Terrain With Streamlined Perception-Control Pipeline
Moonyoung Lee, Youngsun Kwon, Sebin Lee +8
Although bipedal locomotion provides the ability to traverse unstructured environments, it requires careful planning and control to safely walk across without falling. This poses a…
Motion Generation Interface of ROS to PODO Software Framework for Wheeled Huamanoid Robot
Moonyoung Lee, Yujin Heo, Saihim Cho +2
This paper discusses the development of robot motion generation interface between a real-time software architecture and a non-real-time robot operating system. In order for robots…
Fast Perception, Planning, and Execution for a Robotic Butler: Wheeled Humanoid M-Hubo
Moonyoung Lee, Yujin Heo, Jinyong Park +5
As the aging population grows at a rapid rate, there is an ever growing need for service robot platforms that can provide daily assistance at practical speed with reliable performa…
Vision System and Depth Processing for DRC-HUBO+
Inwook Shim, Seunghak Shin, Yunsu Bok +6
This paper presents a vision system and a depth processing algorithm for DRC-HUBO+, the winner of the DRC finals 2015. Our system is designed to reliably capture 3D information of…