Jeong-Jung Kim

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This paper proposes a new algorithm for actor-critic method using online support vector regression(SVR), which can do incremental learning and automatically track variation of environment with time-varying characteristics. It gives good generalization properties to value function approximation and helps the critic converge fast. In addition, sample vectors(More)
There is evidence showing that animals have inherent rhythmic pattern generators called central pattern generator (CPG) that produce locomotion, respiration, heartbeat, and etc. Until now, the CPG has been widely used in robotic systems especially for locomotion. In this paper, we propose a gait adaptation method of biped robot for various terrains. The(More)
In this paper, an improved Ant Colony Optimization (ACO) algorithm is proposed to solve path planning problems. These problems are to find a collision-free and optimal path from a start point to a goal point in environment of known obstacles. There are many ACO algorithms for path planning. However, it take a lot of time to get the solution and it is not to(More)
In this paper, an improved ant colony optimization (ACO) algorithm is proposed to solve path planning problems. These problems are to find a collision-free and optimal path from a start point to a goal point in environment of known obstacles. There are many ACO algorithm for path planning. However, it take a lot of time to get the solution and it is not to(More)
Unlike animals and humans who are very adept at push recovery, humanoid robots push recovery is difficult for its high dimensional, non-linear, and hybrid features. Existed research results such like Capture points, provide several methods to recover from the push. However when a high magnitude push applies to the humanoid, existed methods are not enough to(More)
Pneumatic muscle has many advantages such as elasticity, high power and structural similarity to a living thing's muscle. There have been many researches to control robot actuated by pneumatic muscles, but conventional theories are hard to apply on real robot plants because of their assumptions and disregards of pneumatic muscle's physical aspects like size(More)
This paper introduce a state classification method for detecting falling of biped robot. The method uses a support vector machine (SVM) to classify the state. The input vector for the SVM are a magnitude of acceleration, a position of center of pressure (CoP) in x and z axis, and tilt angles of torso relative to x and z axis. The input vector is based on(More)
PID controllers have been widely used in industrial fields. Since the PID parameters have a great influence on the stability and performance of the control system, many approaches have been proposed to determine them. In this article, we propose double helix structured DNA algorithms to design the type of PID controller and optimize the PID parameters. The(More)
Optimization-based methods have been recently proposed to solve motion planning problems with complex constraints. Previous methods have used optimization methods that may converge to a local minimum. In this study, particle swarm optimization (PSO) is proposed for trajectory optimization. PSO is a population-based stochastic global optimization method(More)
In this paper, experience repository based Particle Swarm Optimization (ERPSO) is proposed for effectively applying Particle Swarm Optimization (PSO) to evolutionary robotics application. The ERPSO uses a concept experience repository to store previous position and fitness of particles to accelerate convergence speed of PSO. We applied the ERPSO to find(More)