Chang-Soo Han

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The need for an intelligent transport system has been heightened in the present day, by the ever-growing demand to combine ease of transport with maximum efficacy. The Segway robot provides a platform which balances itself and transports the user in accordance to its natural lean. However in order to achieve a truly intelligent system, challenges(More)
This paper presents a 3D point cloud map construction method based on extracted line segments with two mutually-perpendicular laser sensors in unknown indoor environment. To correct the position of mobile robot, the line segments are extracted from the raw sensor data from a horizontally installed laser sensor. In each step, these extracted segments are(More)
The simultaneous localization and mapping (SLAM) in 2D unknown environment based on the natural corners is presented in this paper. The corners are chosen as landmarks by finding the intersection points or the end points of the line segments extracted from the raw sensor data. The mapping is constructed by the Improved Extended Kalman Filter (IEKF) based(More)
In this study, an energy-efficient gait pattern and swing trajectory of the powered robotic exoskeleton was proposed through function distribution analysis and the dynamic-manipulability ellipsoid (DME). The exoskeleton has 3 DOF at each side, and it is possible to determine the minimum energy consumption of the joint torques under level-ground walking and(More)
We propose an algorithm of reliable detection of line for unmanned navigation of mobile robots using sensor fusion. To detect the distance and the angle between the robot and the line, we use a vision sensor system and a laser range finder (LRF). Each sensor system runs its own extended Kalman filter (EKF) to estimate the distance and orientation of the(More)
Zeolite 4A, synthetic silicate, has been shown to exhibit diverse biological activities such as anti-cancer and anti-oxidant activity. In the present study, we report that the zeolite 4A may improve skin-whitening. We found that zeolite 4A inhibited melanin production in a dose-dependent manner, which has not cytotoxicity. Zeolite 4A also inhibited(More)
In this paper, we propose and experimentally test a dynamic model-based force controller for the motion of upper limb exoskeleton robot. The system is composed of 3 degrees of freedom using an electrical actuator. This system is mainly controlled by the multi-axis force sensor signals. These are used to generate desired torques for driving the robot system.(More)