Jung-San Cho

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This paper proposes a method to verify the performance of a redundant 4 degree of freedoms (DOF) hydraulic manipulator when Virtual Spring-damper (VSD) algorithm is applied. It is combined with a control based on the VSD algorithm proposed by Ari-moto et al. To verify the applicability of VSD algorithm to the hydraulic robot manipulator of redundancy 4-DOF,(More)
Recently, control approaches for a hydraulic robot in the field of robotics have attracted considerable attention owing to their high power-to-weight ratio. Many studies on behavior and control exploiting the advantages of hydraulic robots have been pursued. Application to hydraulically actuated systems, however, is not straightforward due to the nonlinear(More)
The Quadruped walking robot “JINPOONG” is developed to be able to walk in the field which is use to detection, surveillance, reconnaissance, security, and assistance. It can move, carry the luggage of 60kg or more and walk at the uneven terrain such as gravel road and slope of 15 degrees or more. By adjusting the length of the leg caused by(More)
Hydraulic actuation has the advantage of substantial power and wide range of speed with a small size and low weight. Because of this advantage, hydraulic actuation is used often for a robot dealing with heavy-weight material or walking fast. However, in a walking robot, the power of hydraulic actuator can act as the ground reaction forces between the feet(More)
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)
JINPOONG is a platform that has been developed in order to move an uneven terrain as quadrupeds. Each leg was designed to have 4 degrees of freedom to utilize a broad workspace. A solution of inverse kinematics of this system was found out using the closed form solution, considering motion control of JINPOONG. Therefore, this paper explains the calculation(More)
JINPOONG, a walking robot using hydraulic pressure, requires a power source to operate the power-pack. Therefore, power was supplied to JINPOONG by using an engine that has high power per unit engine weight. Hydraulic pump requires a constant rotating speed in order to supply stable hydraulic pressure because the pressure and flow rate changes according to(More)