Sunggu Kwon

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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)
This paper presents a framework to generate dynamic walking for biped robots. A set of self-stable gait primitives is first constructed. It is done by 1) representing parametric gait primitives, 2) utilizing state-dependent torque control, and 3) doing numerical optimization that takes into account the complex multi-body dynamics with frictional contact(More)
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