18 citations · 34 across the 5 of their papers we have counts for
5 papers
Control and Evaluation of a Humanoid Robot with Rolling Contact Knees
Seung Hyeon Bang, Carlos Gonzalez, Junhyeok Ahn +2
In this paper, we introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifa…
Control of A High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators
Junhyeok Ahn, Donghyun Kim, SeungHyeon Bang +2
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work…
Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation
Binghan He, Gray C. Thomas, Nicholas Paine +1
In this paper we consider a class of exoskeletons designed to amplify the strength of humans through feedback of sensed human-robot interactions and actuator forces. We define an a…
Investigations of a Robotic Testbed with Viscoelastic Liquid Cooled Actuators
Donghyun Kim, Junhyeok Ahn, Orion Campbell +2
We design, build, and thoroughly test a new type of actuator dubbed viscoelastic liquid cooled actuator (VLCA) for robotic applications. VLCAs excel in the following five critical…
Stability and Performance Limits of Latency-Prone Distributed Feedback Controllers
Ye Zhao, Nicholas Paine, Kwan Suk Kim +1
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human…