Chun-Kai Huang

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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)
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)
Angiostrongylus cantonensis is the most common cause of eosinophilic meningitis worldwide. Human infection occurs after ingestion of the worms in raw snails or fish that serve as intermediate hosts. Two outbreaks of central nervous system infection with A. cantonensis occurred in Kaoshiung, Taiwan, during 1998 and 1999 among Thai laborers who ate raw(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 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)
We report the first indigenous case of disseminated histoplasmosis in Taiwan diagnosed by histopathology of bone marrow, microbiologic morphology, and PCR assay of the isolated fungus. This case suggests that histoplasmosis should be 1 of the differential diagnoses of opportunistic infections in immunocompromised patients in Taiwan.