Bokeon Kwak

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This paper presents a quadruped robot with redundant degrees of freedom (DOFs), which exploits its kinematic redundancy for various types of locomotion and manipulation. Unlike previously developed quadruped robots, the proposed robot can change its body posture and suitably adapt to different environments. For example, the robot can walk on a plain(More)
A water beetle is skillful at drag-powered swimming by using its oar-like legs. Inspired by this mechanism, a miniature robot, whose mobility is obtained by a pair of legs attached with swimming appendages, was studied in this work. The robot in this paper has optimally designed linkage structures to maximize the sweep angle, which is actuated by a single(More)
In this paper, a rotational leg-type miniature robot with an actuated middle joint and tail, called RoMiRAMT, is proposed for stable locomotion and improved climbing ability. The robot has four independently actuated rotational legs, giving it advantages of both wheel-type and leg-type locomotion. The design parameters of the rotational legs were determined(More)
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