5 papers
Dual-MPC Footstep Planning for Robust Quadruped Locomotion
Byeong-Il Ham, Hyun-Bin Kim, Jeonguk Kang +2
In this paper, we propose a footstep planning strategy based on model predictive control (MPC) that enables robust regulation of body orientation against undesired body rotations b…
Ground-Aware Octree-A* Hybrid Path Planning for Memory-Efficient 3D Navigation of Ground Vehicles
Byeong-Il Ham, Hyun-Bin Kim, Kyung-Soo Kim
In this paper, we propose a 3D path planning method that integrates the A* algorithm with the octree structure. Unmanned Ground Vehicles (UGVs) and legged robots have been extensiv…
A Miniature High-Resolution Tension Sensor Based on a Photo-Reflector for Robotic Hands and Grippers
Hyun-Bin Kim, Kyung-Soo Kim
This paper presents a miniature tension sensor using a photo-reflector, designed for compact tendon-driven grippers and robotic hands. The proposed sensor has a small form factor o…
Temperature Compensation Method of Six-Axis Force/Torque Sensor Using Gated Recurrent Unit
Hyun-Bin Kim, Seokju Lee, Byeong-Il Ham +1
This study aims to enhance the accuracy of a six-axis force/torque sensor compared to existing approaches that utilize Multi-Layer Perceptron (MLP) and the Least Square Method. The…
Parameter Optimization of Optical Six-Axis Force/Torque Sensor for Legged Robots
Hyun-Bin Kim, Byeong-Il Ham, Keun-Ha Choi +1
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-conta…