9 papers
Accelerating Human-Aware Robot Trajectory Generation via Diffusion and Consistency Distillation
Byeong-Il Ham, Hyun-Bin Kim, Kyung-Soo Kim
This research proposes a constrained motion planning framework for robot manipulators in human-robot interaction (HRI). For a non-redundant manipulator with a fully specified end-e…
Compact Optical Single-axis Joint Torque Sensor Using Redundant Photo-Reflectors and Quadratic-Programming Calibration
Hyun-Bin Kim, Byeong-Il Ham, Kyung-Soo Kim
This study proposes a non-contact photo-reflector-based joint torque sensor for precise joint-level torque control and safe physical interaction. Current-sensor-based torque estima…
Legged Robot State Estimation Using Invariant Neural-Augmented Kalman Filter with a Neural Compensator
Seokju Lee, Hyun-Bin Kim, Kyung-Soo Kim
This paper presents an algorithm to improve state estimation for legged robots. Among existing model-based state estimation methods for legged robots, the contact-aided invariant e…
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…