PUBLICATIONS
Journals
Development of a Lightweight and High-efficiency Compact Cycloidal Reducer for Legged Robots
KK Lee, S Hong, JH Oh
International Journal of Precision Engineering and Manufacturing 2020 [pdf]
Design and control of the rapid legged platform GAZELLE
H Jeong, KK Lee, W Kim, I Lee, JH Oh
Mechatronics 2020 [pdf]
Online Delayed Reference Generation for a Humanoid Imitating Human Walking Motion
J Oh, O Sim, B Cho, KK Lee, JH Oh
IEEE/ASME Transactions on Mechatronics 2020 [pdf]
Centroidal-momentum-based trajectory generation for legged locomotion
Chuanzheng Li, Yanran Ding, Hae-Won Park
Mechatronics 2020 [pdf]
Conferences
Real-Time Constrained Nonlinear Model Predictive Control on SO(3) for Dynamic Legged Locomotion
Seungwoo Hong, Joon-Ha Kim, Hae-Won Park
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 [video]
Wrench-based Kinodynamic Motion Planning for Multi-Legged Robots via Mixed-Integer Convex Program
Yanran Ding, Chuanzheng Li, Hae-Won Park
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Journals (2019)
Humanoid whole-body remote-control framework with delayed reference generator for imitating human motion
J Oh, O Sim, H Jeong, JH Oh
Mechatronics 2019 [pdf]
Real-time humanoid whole-body remote control framework for imitating human motion based on kinematic mapping and motion constraints
J Oh, I Lee, H Jeong, JH Oh
Advanced Robotics 2019 [pdf]
A robust walking controller optimizing step position and step time that exploit advantages of footed robot
H Jeong, I Lee, O Sim, KK Lee, JH Oh
Robotics and Autonomous Systems 2019 [pdf]
A robust walking controller based on online optimization of ankle, hip, and stepping strategies
H Jeong, I Lee, J Oh, KK Lee, JH Oh
IEEE Transactions on Robotics 2019 [pdf]
Hysteresis Modeling for Torque Control of an Elastomer Series Elastic Actuator
DH Kim, JH Oh
IEEE/ASME Transactions on Mechatronics 2019 [pdf]
A Robust Balance-Control Framework for the Terrain-Blind Bipedal Walking of a Humanoid Robot on Unknown and Uneven Terrain
HM Joe, JH Oh
Sensors 2019 [pdf]
Design of Anti-Skid Foot With Passive Slip Detection Mechanism for Conditional Utilization of Heterogeneous Foot Pads
J Park, DH Kong, HW Park
IEEE Robotics and Automation Letters 2019 [pdf]
Learning agile and dynamic motor skills for legged robots
Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, Marco Hutter
Science Robotics 2019 [pdf]
Dynamic Locomotion on Slippery Ground
Fabian Jenelten, Jemin Hwangbo, Fabian Tresoldi, C. Dario Bellicoso, Marco Hutter
IEEE Robotics and Automation Letters 2019 [pdf]
Conferences (2019)
Fast perception, planning, and execution for a robotic butler: Wheeled humanoid m-hubo
M Lee, Y Heo, J Park, HDYHD Jang, P Benz, H Park, IS Kweon, JH Oh
Intelligent Robots and Systems Conference 2019 [pdf] [video]
Biped Robot Pelvis Kinematics Estimation based on the Touch-Point Updating Method
H Bae, J Oh, HM Joe, JH Oh
Intelligent Robots and Systems Conference 2019 [pdf]
Avoiding Obstacles during Push Recovery Using Real-Time Vision Feedback
H Jeong, JH Kim, O Sim, JH Oh
Intelligent Robots and System Conference 2019 [pdf]
Motion Generation Interface of ROS to PODO Software Framework for Wheeled Humanoid Robot
M Lee, Y Heo, S Cho, H Park, JH Oh
International Conference on Advanced Robotics 2019 [pdf]
Implementing ROS Communications for Sensor Integration with the RB5 Collaborative Robot
J Kreitz, M Lee, H SubPark, PY Oh, JH Oh
Annual Computing and Communication Workshop and Conference 2019 [pdf]
Development and experiments of a bio-inspired robot with multi-mode in aerial and terrestrial locomotion
WD Shin, J Park, HW Park
BIOINSPIRATION & BIOMIMETICS 2019 [pdf]
Real-time model predictive control for versatile dynamic motions in quadrupedal robots
Y Ding, A Pandala, HW Park
Robotics and Automation 2019 [pdf]
Robust recovery controller for a quadrupedal robot using deep reinforcement learning
J Lee, J Hwangbo, M Hutter
ArXiv pre-print 2019 [pdf]