Keehong Seo

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—We present a new bio-inspired control strategy for an autonomous underwater vehicle by constructing coupled non-linear oscillators, similar to the animal central pattern generators (CPGs). Using contraction theory, we show that the network of oscillators globally converges to a specific pattern of oscillation. We experimentally validate the proposed(More)
Various forms of animal locomotion have been studied in the biological literature. Neuroscience research suggests the existence of central pattern generators (CPGs), neural networks that generate periodic signals for locomotion. We study simplified modular architectures based on CPGs for robotic applications, and show their global exponential stability(More)
— This paper gives an overview of the development of a novel biped walking machine for a humanoid robot, Roboray. This lower-limb robot is designed as an experimental system for studying biped locomotion based on force and torque controlled joints. The robot has 13 actuated DOF and torque sensors are integrated at all the joints except the waist joint. We(More)
To control exoskeletons for walking gait assistance, it is of primary importance to control them to act synchronously with the gaits of users. To effectively estimate the gait cycle (or the phase within a stride) of users, we propose a new adaptive frequency oscillator (AFO). While previous AFOs successfully estimated the walking frequency from joint angles(More)
This paper presents at a class of new methods which explore and describe an unstruc-tured environment according to the free space as seen by a vehicle within the environment. The proposed methods use such sensor-based information to present a safe, goal-seeking path through the environment. The methods are suitable to both online, reactive path-finding and(More)