Robotic manipulation
Autonomous vehicle/mobile robot
Sensor and actuators
Robotic applications of machine learning
학력
(Ph.D.) University of Michigan, Ann Arbor
약력/경력
Post-doctoral fellow, Robotics Institute, Carnegie Mellon University
Visiting Professor, Department of Mechanical Engineering, UNLV
학술지 논문
(2024)
Development of a Wheel-Type In-Pipe Robot Using Continuously Variable Transmission Mechanisms for Pipeline Inspection.
BIOMIMETICS.
9,
2
(2024)
Unloading sequence planning for autonomous robotic container-unloading system using A-star search algorithm.
ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH.
50,
(2024)
Escape behaviors in prey and the evolution of pennaceous plumage in dinosaurs.
SCIENTIFIC REPORTS.
14,
549
(2024)
Unloading sequence planning for autonomous robotic container-unloading
system using A-star search algorithm.
ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH.
50,
1
(2023)
High-Fidelity Drone Simulation with Depth Camera Noise and Improved Air Drag Force Models.
APPLIED SCIENCES-BASEL.
13,
19
(2023)
A series elastic actuator using air and water and its force control.
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY.
37,
9
(2023)
Oscillation reduction for artificial potential field using vector projections for robotic manipulators.
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY.
37,
7
(2023)
Industrial manipulator calibration with geometric and non-geometric parameters for the enhanced positioning accuracy.
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY.
37,
6
(2023)
An Asymmetric Velocity Profile for Minimizing Wafer Slippage and Settling Time of a Wafer Transport Robot.
ELECTRONICS.
12,
10
(2023)
A Meal-Assistance Robot System for Asian Food and Its Food Acquisition Point Estimation and User Interface Based on Face Recognition.
APPLIED SCIENCES-BASEL.
13,
5
(2022)
A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator.
SENSORS.
22,
24
(2022)
Combined task and motion planning system for the service robot using hierarchical action decomposition.
INTELLIGENT SERVICE ROBOTICS.
15,
4
(2022)
Six-Wheel Robot Design Methodology and Emergency Control to Prevent the Robot from Falling Down the Stairs.
APPLIED SCIENCES-BASEL.
12,
9
(2022)
An Online Task-Planning Framework Using Mixed Integer Programming for Multiple Cooking Tasks Using a Dual-Arm Robot.
APPLIED SCIENCES-BASEL.
12,
8
(2022)
Simultaneous Positive and Negative Pressure Control Using Disturbance Observer Compensating Coupled Disturbance Dynamics.
IEEE ROBOTICS AND AUTOMATION LETTERS.
7,
2
(2022)
Soft Artificial Muscle With Proprioceptive Feedback: Design, Modeling and Control.
IEEE ROBOTICS AND AUTOMATION LETTERS.
7,
2
(2022)
Vacuum Suction Cup Modeling for Evaluation of Sealing and Real-Time Simulation.
IEEE ROBOTICS AND AUTOMATION LETTERS.
7,
2
(2022)
Variable Stiffness Robotic Hand Driven by Twisted-Coiled Polymer Actuators.
IEEE ROBOTICS AND AUTOMATION LETTERS.
7,
2
(2022)
Primitive Action Based Combined Task and Motion Planning for the Service Robot.
Frontiers in Robotics and AI.
9,
(2022)
Parasitic Capacitance-Free Flexible Tactile Sensor
with a Real-Contact Trigger.
SOFT ROBOTICS.
9,
1
특허/프로그램
물류환경을 위한 알오에스 기반 2지 그리퍼 파지 위치 추정 모듈 프로그램.
C-2020-047037.
20201201.
대한민국
물류환경을 위한 알오에스 기반 2지 그리퍼 파지 위치 추정 모듈 프로그램.
C-2020-047037.
20201201.
대한민국
회전 액추에이터.
10-2018-0065616.
20190722.
대한민국
로봇 매니퓰레이터 충돌 검출 장치 및 방법(APPARATUS AND METHOD OF COLLISION DETECTION OF ROBOT MANIPULATOR).
10-1970-9510000.
20190416.
대한민국
조인트 모듈 및 이를 이용한 모터조립체.
10-2017-0062451.
20181228.
대한민국
케이블 그립장치.
10-2017-0044390.
20181224.
대한민국
Sensors and method of manufacturing the same.
743762.
20171226.
미국
변속기를 이용한 배관 검사용 이동 로봇.
1020150159754.
20170410.
대한민국
힘측정이 가능한 디지털 타입 센서.
1020150114260.
20170405.
대한민국
와이어 하네스 핸들링용 그리퍼.
1020150145880.
20170316.
대한민국
Brake mechanism of robot using multi-output differential gear.
554499.
20160830.
미국
Robot for inspecting pipelines.
14093129 .
20160726.
미국
다중 출력 차동 기어를 이용한 로봇의 브레이크 메카니즘.
1020130165596.
20160518.
대한민국
전도성 신축성 섬유, 상기 섬유를 포함하는 직물, 및 이들의 제조방법.
1020140114312.
20160404.
대한민국
다중 출력 차동 기어를 이용한 로봇(ROBOT USING MULTY-OUT DIFFERENTIAL GEAR).
10-2014-0108495.
20160215.
대한민국
유압액추에이터의 제어장치(CONTROL DEVICE FOR HYDRAULIC ACTUATOR).
10-1573573-0000.
20151125.
대한민국
최적화된 이동경로를 갖는 레이저 가공방법(METHOD FOR LASER MACHINING WITH OPTIMIZED MOVING ROUTE).
10-1542018-0000.
20150729.
대한민국
센서 및 그 제조방법.
1020140082592.
20150630.
대한민국
대역 외란 관측기를 이용한 매니퓰레이터의 충돌에 의한 외란 감지 장치 및, 그 감지 방법(DEVICE FOR COLLISION DETECTION USING BAND DESIGNED DISTERBANC OBSERVER, AND THE METHOD).
10-1529760-0000.
20150611.
대한민국
Multi-axis sensor (다중 축 센서).
13719680.
20150414.
미국
수상/공훈
한국로봇학회 학술상 2019
학술회의논문
(2022)
Design of a Conveyor Belt Manipulator for Reposition of Boxes in
Logistics Centers.
IEEE 18th International Conference on AutomationScience and Engineering (CASE).
멕시코
(2022)
A New Strapping Grasper for Picking Tasks of Various Objects using
Flexible Band.
International Conference on Ubiquitous Robots.
대한민국
(2022)
Box segmentation, position and size estimation for robotic box handling
applications1.
International Conference on Ubiquitous Robots.
대한민국
(2022)
Object Inserting Operation with Admittance Control of A 4-DOF
Hydraulic Manipulator with Rotary Vane Actuators.
International Conference on Ubiquitous Robots.
대한민국
(2022)
Terrain Recognition Based on the Wheel Contact Angle Measurement
using Laser Scanners for Six-Wheel Mobile Robot.
International Conference on Ubiquitous Robots.
대한민국
(2022)
Soft Artificial Muscle With Proprioceptive Feedback:
Design, Modeling and Control.
International conference on Soft Robotics.
영국
(2021)
Stereo MSCKF with Online Extrinsic Calibration
using Invariant Extended Kalman Filter.
2021 18th International Conference on Ubiquitous Robots (UR).
대한민국
(2021)
Depth Hole Filling based on Deep Learning for Robust Grasp Detection.
2021 18th International Conference on Ubiquitous Robots (UR).
대한민국
(2020)
Simultaneous position-stiffness control of antagonistically driven twisted-coiled polymer actuators using model predictive control.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
미국
(2020)
Motions Analysis for Stair Climbing by Two or Three Steps and cross over an obstacle for a Quadruped Robot.
2020 20th International Conference on Control, Automation and Systems (ICCAS 2020).
대한민국
(2020)
Preliminary Connector Recognition System Based on Image Processing for Wire Harness Assembly Tasks.
2020 20th International Conference on Control, Automation and Systems (ICCAS 2020).
대한민국
(2020)
근접센서를 활용한 맵핑의 성능 검증을 위한 시뮬레이션 환경구성.
제15회 한국로봇종합학술대회.
대한민국
(2020)
멀티콥터제어를 위한 추력 및 이동 속도의 영향을 고려한 로터 항력 모델링.
제15회 한국로봇종합학술대회.
대한민국
(2020)
비주얼 오도메트리 최적화를 위한 환경 내 특징점 및 특징선 분포 분석.
제15회 한국로봇종합학술대회.
대한민국
(2020)
전류센서 기반의 모터 추력 제어.
제15회 한국로봇종합학술대회.
대한민국
(2020)
중복 오차 인자의 제거를 통한 로봇 캘리브레이션 방법.
제15회 한국로봇종합학술대회.
대한민국
(2020)
최소 스냅 전역 경로 기반 실시간 장애물 회피 재계획법.
제15회 한국로봇종합학술대회.
대한민국
(2020)
Jerk estimation for quadrotor based on differential flatness.
2020 17th International Conference on Ubiquitous Robots (UR).
일본
(2020)
Task Planning with Mixed-Integer Programming for Multiple Cooking Task Using dual-arm Robot.
2020 17th International Conference on Ubiquitous Robots (UR).
일본
(2020)
The Bioloid GP robot with different configurations for simulation in
V-REP controlled by the Robot Operating System (ROS).
2020 6th International Conference on Control, Automation and Robotics (ICCAR).
싱가포르
