Hwan-Joo Kwak

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The major characteristics of robots can be divided into several categories ranging from mobility to autonomy. The mobility of service robots is essential and fundamental to commercial and scientific progress. The rapid development of practical service robots depends on our decision which are the most efficient and affordable kinds of locomotion. The(More)
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)
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)
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)
A new fuzzy inference technique is presented to replace the conventional fuzzy inference process of type‐2 fuzzy logic systems. Because conventional type‐2 fuzzy logic systems demand a large amount of memory, they cannot be used by most embedded systems, which do not have enough memory space. To overcome this problem, a new fuzzy inference technique for(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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