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This paper proposes the indirect zero momentum position (ZMP) controller for biped robot systems and proves its disturbance input-to-state stability (ISS). The ZMP control has been used as a standard method for stable walking control of biped robot systems. Since the ZMP information consists of position and acceleration of the center of gravity (COG) for a(More)
— The disturbance observer (DOB) has been widely utilized for high precision and high speed motion control applications. In this paper, we suggest the robustness measure of DOB, as a criterion to design the robust DOB systems. Also, we suggest its design guidelines especially for second-order systems. Experimental results for an optical disk drive system(More)
This paper proposes the walking pattern generation method, the kinematic resolution method of CoM (center of mass) Jacobian with an embedded motion, and the walking controller design method for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded(More)
Previously, we explored the epidemic pattern and molecular characterization of noroviruses (NoVs) isolated in Chungnam, Korea in 2008, and the present study extended these observations to 2009 and 2010. In Korea, NoVs showed the seasonal prevalence from late fall to spring, and widely detected in preschool children and peoples over 60 years of age.(More)
For a legged robot such as a humanoid, balancing its body during a given motion is natural but the most important problem. Recently, a motion given to a humanoid is more and more complicated, and thus the balancing problem becomes much more critical. This paper suggests a real-time motion generation algorithm that guarantees a humanoid to be balanced during(More)
This paper proposes a new actuator system using a movable pulley for a bio-mimetic system and wearable robot applications, which is able to store energy in advance and to release it in such a way to satisfy desired speed and force control performances, simultaneously. Since new actuator system consists of two motors (dual-motors), a movable pulley, and(More)
This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design method of posture/walking controller for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with(More)
— This paper proposes a method to accommodate multiple tasks for redundancy utilization, which is based on a specific weighted pseudo-inverse. The proposed method also has task priority imposition property as those conventional task priority based method. In order to deal with general situations of task specification, the so-called semi-definitely weighted(More)