Jaehong Seo

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Systems that implement robot joints by using servo valve-controlled hydraulic actuators are known to be difficult to control because hydraulic systems are highly nonlinear. Although this problem is tough to solve, these systems continue to be of interest because their hydraulic manipulators have a high power-to-weight ratio, which can be used for a variety(More)
The Spring Loaded Inverted Pendulum (SLIP) describes the dynamic walking of humans and animals in a simplified manner. However, realizing such movements by means of a combination of typical articulated legs and linear actuators has some limitations. This paper proposes a leg mechanism that accurately reflects the SLIP based on its mechanical constitution.(More)
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