Chun-Kai Huang

Learn More
We report on the development of a robot's dynamic locomotion based on a template which fits the robot's natural dynamics. The developed template is a low degree-of-freedom planar model for running with rolling contact, which we call rolling spring loaded inverted pendulum (R-SLIP). Originating from a reduced-order model of the RHex-style robot with(More)
An ignition circuit is proposed for the electronic ballast of high intensity discharge (HID) lamps. The igniter can be integrated into the bridge inverter by commonly use the power switches of the inverter and the reactive components of the output filter. The reactive components act like an energy tank, that can resonates repeatedly by turning the two power(More)
Building LEGO sculptures requires accounting for the target object's shape, colors, and stability. In particular, finding a good <i>layout</i> of LEGO bricks that prevents the sculpture from collapsing (due to its own weight) is usually challenging, and it becomes increasingly difficult as the target object becomes larger or more complex. We devise a(More)
We report on the development of a robot's dynamic bounding locomotion based on a sagittal plane model that fits the robot's natural dynamics. The proposed model, referred to as the Two-rolling-leg (TRL) model, is a low degree-of-freedom planar rigid-body model with two rolling and compliant legs. The numerical fixed point analyses of the model suggest that(More)
We report on a model-based approach for robot design and its dynamic motion generation. A new torque-actuated dissipative spring loaded inverted pendulum model with rolling contact (TDR-SLIP) is proposed to serve as the motion template for the robot. It is a successor to a previously developed spring loaded inverted pendulum model with rolling contact(More)
We report on development of dynamic running behavior on the RHex-style hexapod robot. By using the Rolling SLIP (R-SLIP) model as the &#x201C;template&#x201D; of the robot, together with the investigation of the stability properties of the R-SLIP model, the robot implemented with the selected trajectory based on the R-SLIP motion can immediately excite its(More)
We report on a sensor data fusion algorithm via an extended Kalman filter for estimating the spatial motion of a bipedal robot. Through fusing the sensory information from joint encoders, a 6-axis inertial measurement unit and a 2-axis inclinometer, the robot's body state at a specific fixed position can be yielded. This position is also equal to the CoM(More)