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Chapter and Conference Paper
2-DOF Rolling Joint with the Novel Interior Reinforcement Structures
This paper introduces a 2-Degree of Freedom (2-DOF) rolling joint with a modified internal link configuration and the novel interior reinforcement structures that allow the reduced overall size and higher over...
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Article
Open AccessPrevalence and risk factors of bowel symptoms in Korean patients with ulcerative colitis in endoscopic remission: a retrospective study
Many patients with ulcerative colitis (UC) in clinical remission frequently complain of bowel symptoms such as increased stool frequency (SF) and rectal bleeding (RB). However, studies on these patient-reporte...
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Article
Open AccessComparison of surgical outcomes of slanted procedure for exotropia with convergence insufficiency according to their response to preoperative monocular occlusion
The aim of this prospective study was to compare surgical outcomes of slanted bilateral lateral rectus (LR) recession for intermittent exotropia (IXT) with convergence insufficiency (CI) according to their res...
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Article
Development of a Lightweight and High-efficiency Compact Cycloidal Reducer for Legged Robots
Actuating systems for the proprioceptive control of legged robots must have a high mechanical efficiency and mechanical bandwidth for high torque transmission to avoid power transmission losses. We developed a...
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Reference Work Entry In depth
History of HUBO: Korean Humanoid Robot
HUBO, a trailblazer in humanoid robots, was developed in the HUBO Laboratory, which is a humanoid robot research center in KAIST, Korea. We developed HUBO that can complete such tasks as walking and running de...
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Reference Work Entry In depth
Mechanism Design Outline of Hubo
This chapter presents the development of a humanoid robotics platform (DRC-HUBO+). The design concept, hardware parts design, and description of the operating system are included in this chapter. The purpose o...
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Article
Collision Detection and Safe Reaction Algorithm for Non-backdrivable Manipulator with Single Force/Torque Sensor
In this paper, we propose collision detection and safe reaction for a non-backdrivable manipulator with a base force/torque sensor. Measurement of the base force/torque sensor is compensated for using quasi-st...
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Chapter
Robot System of DRC-HUBO+ and Control Strategy of Team KAIST in DARPA Robotics Challenge Finals
This paper summarizes how Team KAIST prepared for the DARPA Robotics Challenge (DRC) Finals, especially in terms of the robot system and control strategy. To imitate the Fukushima nuclear disaster situation, t...
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Article
Camera-laser fusion sensor system and environmental recognition for humanoids in disaster scenarios
This research aims to develop a vision sensor system and a recognition algorithm to enable a humanoid to operate autonomously in a disaster environment. In disaster response scenarios, humanoid robots that per...
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Living Reference Work Entry In depth
History of HUBO, Korean Humanoid Robot
HUBO, a trailblazer in humanoid robots, was developed in the HUBO Laboratory, which is a humanoid robot research center in KAIST, Korea. We developed HUBO that can complete such tasks as walking and running de...
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Living Reference Work Entry In depth
Mechanism Design Outline of Hubo
This chapter presents the development of a humanoid robotics platform (DRC-HUBO+). The design concept, hardware parts design, and description of the operating system are included in this chapter. The purpose o...
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Article
Study on optimal velocity selection using velocity obstacle (OVVO) in dynamic and crowded environment
The velocity obstacle (VO) method is one of local path generation method considering a velocity of obstacles. By dividing an available velocity region into collision and collision-free area, a robot can avoid ...
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Article
Ultraclean contact transfer of patterned Ag electrodes by thermal release tape for transparent conductive electrode
Silver grid electrode is a promising candidate for transparent conductive film because of its outstanding electrical, thermal, and optical properties, which can be easily tuned by changing the line width, spac...
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Article
Humanoid Posture Selection for Reaching Motion and a Cooperative Balancing Controller
Our goal in this research was to develop a motion planning algorithm for a humanoid to enable it to remove an object that is blocking its path. To remove an object in its path, a humanoid must be able to reach...
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Article
A modified perturbation/correlation method for force-guided assembly
The present study proposes the Modified perturbation/correlation method (MPCM) as a way of performing assembly tasks and an algorithm by which assembly task can be performed automatically, without human interv...
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Article
Active Suspension for a Rapid Mobile Robot Using Cartesian Computed Torque Control
In this paper, I suggest active suspension technique for a rapid mobile robot, KDMR-1. The major purpose of KDMR-1 is object delivery. The KDMR-1 is designed to have a maximum speed of 12.8 km/hr. At this high...
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Article
Posture Stabilization Strategy for a Trotting Point-foot Quadruped Robot
This paper proposes a posture stabilization strategy for achieving the stable trot gait of a point-foot quadruped robot. Specifically, a step** strategy (foot placement strategy) has been developed to achiev...
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Article
Development of the Cartesian arm exoskeleton system (CAES) using a 3-axis force/torque sensor
This paper presents the development of the exoskeleton system for amplifying human strength, which we call the Cartesian arm exoskeleton system (CAES). The CAES is a highly geared manipulator equipped with ele...
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Article
Adaptive walking pattern generation and balance control of the passenger-carrying biped robot, HUBO FX-1, for variable passenger weights
A passenger-carrying biped robot is a practical robot capable of carrying a passenger for both entertainment purposes and disabled transport by means of biped walking. In the walking controls of the biped walk...
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Article
On the stability of receding horizon control based on horizon size for linear discrete systems
In this study, stability conditions of receding horizon control (RHC) based on a horizon size are proposed for linear discrete systems. The proposed stability conditions present a relevant horizon size which c...
