Hwan-Joo Kwak

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The shortcomings of inertial sensor-based localization for mobile robots are discussed and a method to improve the performance of localization is introduced. Because dead reckoning using wheel speed sensors is insufficient for accurate motion estimation in uneven and slippery environments, many studies have used inertial sensors in order to improve the(More)
An advanced fuzzy potential field method for mobile robot obstacle avoidance is proposed. The potential field method primarily deals with the repulsive forces surrounding obstacles, while fuzzy control logic focuses on fuzzy rules that handle linguistic variables and describe the knowledge of experts. The design of a fuzzy controller--advanced fuzzy(More)
Ensuring stability is one of the most important themes of humanoid robot, because humanoid robot inherently suffers from instability. And the stable landing is the first step in various environments for the stable walking. However, it is difficult to obtain ground information in landing. So, we propose the stable walking of humanoid robot by using landing(More)
This paper proposes a back propagation neural network based real-time humanoid self-collision detection method which eliminates the repetition of detection computation for same and similar motion sets. The proposed system is able to reduce self-collision detection computation time significantly, because of the pattern recognition capability of the neural(More)
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