Jin-Geol Kim

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Informations of suitable additive via-points, which determine the shapes of trajectories, such as *yelocities and accelerations at thevia-points, are needed for a smooth biped walking. Also, incorrect information can cause an indiferentiability on the trajectory and result in discontinuous walking motion. In this paper; optimal via-points data are found(More)
This paper deals with the real-time stable walking for a humanoid robot, ISHURO-II, on uneven terrain. A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing(More)
In this paper, we described an optimal walking pattern generation using genetic-fuzzy algorithm that can assist walking robot avoid obstacles. In order to walk on an uneven terrain, a quadruped robot must recognize obstacles and take a trajectory that fits with the environment. In that respect, the robot should have two decision-making algorithms that will(More)
This paper deals with a switching PID controller using a genetic algorithm in a multi-nonlinear system. In controlling the nonlinear element of the system, there are some problems such as the limit cycle. In this study, a switching PID controller was proposed to solve problems caused by nonlinearities of system. The PID is a well-known robust controller.(More)