High-Speed and Enhanced Motion Control for a Wheeled-Legged Humanoid Robot using a Two-Wheeled Inverted Pendulum with Roll Joint
Jaewoo An, Jun Young Kim, Myo-Taeg Lim, Yonghwan Oh
IEEE Access, 2025
A Compact Cardiopulmonary Resuscitation Chest Compression Device Using a Torsion-Based Series Elastic Actuator
Sungmoon Hur, Hyunbum Cho, Joowan Kim, Yonghwan Oh, Jaeheung Park
IEEE Access, 2025
Robust walking stabilization strategy of humanoid robots on uneven terrain via QP-based impedance/admittance control
Joonhee Jo, Gyunghoon Park, Yonghwan Oh
Robotics and Autonomous Systems, 2022
Energy-Efficient Hip Joint Offsets in Humanoid Robot via Taguchi Method and Bio-inspired Analysis
Jihun Kim, Jaeha Yang, Seung Tae Yang, Yonghwan Oh, Giuk Lee
Applied Sciences, 2020
Flexible shear and normal force sensor using only one layer of polyvinylidene fluoride film
Ye Rim Lee, Jaehoon Chung, Yonghwan Oh, Youngsu Cha
Applied Sciences, 2019
One-Piece Gravity Compensation Mechanism Using Cam Mechanism and Compression Spring
Giuk Lee, Donggun Lee and Yonghwan Oh
International Journal of Precision Engineering and Manufacturing-Green Technology, 2018
performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations
Jung Hoon Kim, Sung-Moon Hur and Yonghwan Oh
International Journal of Control, 2018
High-Force Display Capability and Wide Workspace With a Novel Haptic Interface
Giuk Lee, Sung-Moon Hur and Yonghwan Oh
IEEE/ASME Transactions on Mechatronics, 2017
Real-Time Walking Pattern Generation Method for Humanoid Robots by Combining Feedback and Feedforward Controller
Seokmin Hong, Yonghwan Oh, Doik Kim and Bum-Jae You
IEEE Transactions on Industrial Electronics, 2014
Dependable Humanoid Navigation System Based on Bipedal Locomotion
Yeonsik Kang, Hyunsoo Kim, Soo-Hyun Ryu, Nakju Lett Doh, YongHwan Oh and Bum-jae You
IEEE Transactions on Industrial Electronics, 2012
Control Design for Human-like Reaching Movements using Redundancy in Robot Arm-Trunk Systems
Tapomayukh Bhattacharjee, Yonghwan Oh, Ji-Hun Bae and Sang-Rok Oh
International Journal of Control, Automation and Systems, 2011
A Walking pattern generation method of humanoid robot MAHRU-R
Seokmin Hong, Yonghwan Oh, Bum-Jae You and Sang-Rok Oh
Intelligent Service Robotics, 2009
On the Estimation of the Center of Mass of an Autonomous Bipedal Robot
SangJoo Kwon and Yonghwan Oh
Journal of Institute of Control, Robotics and Systems Engineering, 2008
Behavior-based Control of Robotic Hand by Tactile Servoing
Park No-Hoon, Yonghwan Oh and Sang-Rok Oh
International Journal of Applied Electromagnetics and Mechanics, 2006
Simultaneous Tracking and Balancing Control of Two-Wheeled Inverted Pendulum with Roll-joint using Dynamic Variance MPPI
Taehyun Kim, Jechan Jeon, Myo-Taeg Lim, Yisoo Lee and Yonghwan Oh
IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids), 2024
Whole-body balancing and differential driving control using a relative vector-based lqr to address non-holonomy of a wheel-legged robot
Joonhee Jo, Jaewoo An, Yonghwan Oh
IEEE International Conference on Ubiquitous Robots (UR), 2023
Robust Landing Stabilization of Humanoid Robot on Uneven Terrain via Admittance Control and Heel Strike Motion
Joonhee Jo, Gyunghoon Park, Yonghwan Oh
IEEE International Conference on Robotics and Automation (ICRA), 2021
Lyapunov-based Approach to Reactive Step Generation for Push Recovery of Biped Robots via Hybrid Tracking Control of DCM
Gyunghoon Park, Jung Hoon Kim, Joonhee Jo, Yonghwan Oh
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Impedance control of humanoid walking on uneven terrain with centroidal momentum dynamics using quadratic programming
Joonhee Jo, Yonghwan Oh
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Preliminary study on role of finite-sized foot in push recovery of biped robot in sagittal plane via stabilization of divergent component of motion
Gyunghoon Park, Yonghwan Oh
25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2020
Contact Force based Balancing and Tracking Control of a Ballbot using Projected Task Space Dynamics with Inequality Constraints
Joonhee Jo, Yonghwan Oh
17th International Conference on Ubiquitous Robots (UR), 2020
Design of a Parallel Haptic Device with Gravity Compensation by using its System Weight
Sung-moon Hur, Jaeyoung Park, Jaeheung Park, Yonghwan Oh
IEEE International Conference on Robotics and Automation (ICRA), 2020
Towards fully reactive multi-step generation for humanoids against instantaneous push: A case of walking in place in sagittal plane
Gyunghoon Park, Jung Hoon Kim, Yonghwan Oh
IECON 2019-45th Annual Conference of the IEEE Industrial Electronics Society, 2019
Minimal null space task parameterization for balance control of humanoid robot
Seungjae Yoo, Yonghwan Oh
Proceedings of the 5th International Conference on Mechatronics and Robotics Engineering, 2019
A Comparison Study on Coupling Effects in Balance Control Methods of Humanoid Robots through an Extended Task Space Formulation
Seungjae Yoo, Joonjee Jo and Yonghwan Oh
International Conference on Informatics In Control (ICINCO), 2019
Control for Balance of Legged-Wheel Hybrid Robot(LWHR) by regulating ground reaction force with kinematic coupling
Seungjae Yoo and Yonghwan Oh
International Conference on Mechatronics and Automation (ICMA), 2018, (Best Paper Finalist)
A Method for Robust Robotic Bipedal Walking on Rough Terrain: l1-optimal Event-based Feedback Controller
Jongwoo Lee, Jung Hoon Kim and Yonghwan Oh
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
Walking Control Algorithm of the 5-link robot based on Operational Space Control
Minh Nhat Vu, Jongwoo Lee and Yonghwan Oh
International Conference on Mechatronics and Automation (ICMA), 2017, (Best Paper Finalist)
A Finite State Machine and Walking Control Algorithm of the Biped Robot with Flat Foot
Minh Nhat Vu, Jongwoo Lee and Yonghwan Oh
International Conference on Mechatronics and Automation (ICMA), 2017
Energy-Efficient Robotic Leg Design Using Redundantly Actuated Parallel Mechanism
Jongwoo Lee, Giuk Lee and Yonghwan Oh
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2017
A Force Direction Control Method for Robotic Bipedal Walking based on a Reduced Order Model
Jongwoo Lee, Minh Nhat Vu and Yonghwan Oh
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2017
Control Strategy for Stabilization of the Biped Trunk-SLIP Walking Model
Minh Nhat Vu, Jongwoo Lee and Yonghwan Oh
International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2017
Stability Regions for Standing Balance of Biped Humanoid Robots
Jung Hoon Kim, Jongwoo Lee and Yonghwan Oh
IEEE International Conference on Robotics and Automation (ICRA), 2017
A Control Method for Bipedal Trunk Spring Loaded Inverted Pendulum Model
Jongwoo Lee, Minh Nhat Vu and Yonghwan Oh
The 13th Intl. Conf. on Autonomic and Autonomous Systems, 2017
A Planar Stable Walking Model based on Ankle Actuation and the Virtual Pendulum Concept
Jongwoo Lee and Yonghwan Oh
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016
A Novel Performance Measure for Biped Robots against Bounded Persistent Disturbances
Jongwoo Lee, Jung Hoon Kim and Yonghwan Oh
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016
Walking Pattern Generation in Sagittal Plane Possessing Characteristics of Human Normal Walking
Sangwook Lee, Jongwoo Lee, Dong Gun Lee and Yonghwan Oh
International Conference on Mechatronics and Automation (ICMA), 2016, (Best Paper Finalist)
Realization of Human Neck Motion with Novel Robotic Mechanism
Minwoong Jeung, Giuk Lee and Yonghwan Oh
International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2016
A Novel Multi-articular Leg Mechanism for Biped Robots Inspired by Bi-articular Muscle
Jongwoo Lee, Giuk Lee, Sangwook Lee, Jung Hoon Kim, Seokmin Hong and Yonghwan Oh
6th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016
A Study on the L1 Optimal PD Controller with Application to Joint Motion Control of a Robot Manipulator
Jung Hoon Kim, Sung-Moon Hur, Jongwoo Lee and Yonghwan Oh
IEEE International Conference on Robotics and Automation (ICRA), 2016
A Novel Haptic device with High-force Display Capability and Wide workspace
Giuk Lee, Sung-Moon Hur and Yonghwan Oh
IEEE International Conference on Robotics and Automation (ICRA), 2016
An On-line Gravity Estimation Method using Inverse Gravity Regressorbfor Robot Manipulator Control
Joonhee Jo, DongHyun Lee, Duc Tron Tran, Yonghwan Oh and Sang-Rok Oh
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
Task-Space Torque Controller Based on Time-Delay Control
Sung-Moon Hur, Joonhee Jo and Yonghwan Oh
The Eleventh International Conference on Autonomic and Autonomous Systems, 2015
The Contact/Non-contact Thimble Haptic device
Woohyeok Choi, Sung-Moon Hur, Jaeha Kim and Yonghwan Oh
IEEE International Conference on Mechatronics, 2015
Development of an Underactuated Robotic Hand using Differential Gear Mechanism
Seyoung Cheon, Woohyeok Choi, Sang-Rok Oh, and Yonghwan Oh
International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2014
An approach toward Human-like Motion Control of a Dual Arm Robot for Picking Heavy Objects
DongHyun Lee, Duc Tron Tran and Yonghwan Oh
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014
Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis
Sung-Kyun Kim, Joonhee Jo, Yonghwan Oh, Sang-Rok Oh, Siddhartha Srinivasa and Maxim Likhachev
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014
Joint Space Torque Controller Based on Time-Delay Control with Collision Detection
Sung-Moon Hur, Sang-Rok Oh and Yonghwan Oh
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014
Design of Spatial Adaptive Fingered Gripper Using Spherical Five-Bar Mechanism
Tae-Uk Kim and Yonghwan Oh
Int. Conf. on Advanced Mechatronic Systems, 2014
Biologically Inspired Control Algorithm for an Unified Motion of Whole Robotic Arm-Hand System
Jaesung Kwon, Woosung Yang, Hosun Lee, Ji-Hun Bae and Yonghwan Oh
IEEE International Conference on Robot and Human Interactive Communication (Ro-MAN), 2014
Grasping Force Control of a Robotic Hand based on a Torque-Velocity Transformation Using F/T Sensors with Gravity Compensation
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh and Sang-Rok Oh
Annual Conference of the IEEE Industrial Electronics Society(IECON), 2013
From Human Motion Analysis to Whole-Body Control of a Dual-Arm Robot for Pick-And-Place Tasks
Sung-Kyun Kim, DongHyun Lee, Seokmin Hong, Yonghwan Oh and Sang-Rok Oh
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013
Zero-Moment Point Based Balance Control of Leg-Wheel Hybrid Structures with Inequality Constraints of Kinodynamic Behavior
Sang-ik An, Yonghwan Oh and Dong-Soo Kwon
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012
Joint Torque Servo of a High Friction Robot Manipulator Based on Time-Delay Control with Feed-Forward Friction Compensation
Sung-Moon Hur, Sung-Kyun Kim, Yonghwan Oh and Sang-Rok Oh
IEEE International Conference on Robot and Human Interactive Communication (Ro-MAN), 2012
Contact Force Control of a Robotic Hand Using F/T Sensory Feedback with a Rigid Object
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh and Sang-Rok Oh
IEEE Int. Conf. on Automation Science and Engineering (CASE), 2012
COM Control of Dual Arm Robot using COM Jacobian
Kwanghyun Ryu, Yonghwan Oh and Minjoon Choi
IEEE Int. Conf. on Automation Science and Engineering (CASE), 2012
Zero-Moment Point Based Balance Control of Leg-Wheel Hybrid Structures with Inequality Constraints of Dynamic Behavior
Sang-ik An, Yonghwan Oh and Dong-Soo Kwon
IEEE International Conference on Robotics and Automation (ICRA), 2012
Stackable Manipulator for Mobile Manipulation Robot
Hoyul Lee, Yonghwan Oh, Woong Hee Shon and Youngjin Choi
IEEE International Conference on Robotics and Automation (ICRA), 2012
Stackable Manipulator for Mobile Manipulation Robot
Sung-Kyun Kim, Yonghwan Oh and Sang-Rok Oh
IEEE International Conference on Robotics and Automation (ICRA), 2012
Development of Kalman Filter based two-port Body Force Observer for the Flexible Joint: Design and Experiments
Young Jin Park, Hosun Lee, Yonghwan Oh and Wan Kyun Chung
IEEE International Conference on Robotics and Automation (ICRA), 2012
Development of a Multi-fingered Robotic Hand and Its Compliance Control using F/T Sensors at Fingertips
Sung-Kyun Kim, Joonhee Jo, Yonghwan Oh and Sang-Rok Oh
International Conference on Mechatronics Technology (ICMT), 2011
Compliance Control of a Position Controlled Robotic Hand Using F/T sensor
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh and Sang-Rok Oh
The 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2011
Balance Control of Ball-on-Plate System Using Redundant Manipulator
Kwanghyun Ryu and Yonghwan Oh
International Conference on Mechatronics Technology (ICMT), 2011
Concurrent Control of Position/Orientation of a Redundant Manipulator based on Virtual Spring-Damper Hypothesis
Sung-Kyun Kim, Ji-Hun Bae, Yonghwan Oh and Sang-Rok Oh
IEEE International Conference on Robotics and Automation (ICRA), 2011
Balance control of ball-beam system using redundant manipulator
Kwanghyun Ryu and Yonghwan Oh
IEEE Int. Conf. on Mechatronics (ICM), 2011
Controlling Redundant Robot Arm-Trunk Systems for Human-like Reaching Motion
Tapomayukh Bhattacharjee, Yonghwan Oh, Ji-Hun Bae and Sang-Rok Oh
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010
CPG based Self-adapting Multi-DOF Robotic Arm Control
Woosung Yang, Ji-Hun Bae, Yonghwan Oh, Nak Young Chong, Bum-Jae You and Sang-Rok Oh
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010
A Humanoid Robot’s Walking Pattern Generation for Starting Swiftly
Seokmin Hong, Yonghwan Oh, Doik Kim, Bum-Jae You and Sang-Rok Oh
Proc. of Int. Conf. on Advanced Mechatronics, 2010
7-DOF Redundant Manipulator Control using Quaternion Feedback based on Virtual Spring-Damper Hypothesis
Sung-Kyun Kim, Ji-Hun Bae, Yonghwan Oh and Doik Kim
International Conference on Advanced Mechatronics, 2010
Self-adapting Robot Arm Movement Employing Neural Oscillators
Woosung Yang, Ji-Hun Bae, Yonghwan Oh, Jaesung Kwon, Nak Young Chong and Bum-Jae You
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009
Real-Time Estimation Algorithm for the Center of Mass of a Bipedal Robot with Flexible Inverted Pendulum Model
SangJoo Kwon and Yonghwan Oh
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009
Biologically Inspired Control for Robotic Arm using Neural Oscillator Network
Woosung Yang, Ji-Hun Bae, Yonghwan Oh, Nak Young Chong and Bum-Jae You
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009
A Walking Pattern Generation Method with Feedback and Feedforward Control for Humanoid Robots
Seokmin Hong, Yonghwan Oh, Doik Kim and Bum-Jae You
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009
A Torque Controller Design of Flexible Joint Robot Arm using Disturbance Observer
Hosun Lee, Yonghwan Oh and Jae-Bok Song
International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2009
Walking Pattern Generation Method with Feedforward and Feedback Control for Humanoid Robots
Seokmin Hong, Yonghwan Oh, Doik Kim, Syungkwon Ra and Bum-Jae You
The 18th IEEE Int. Symposium on Robot and Human Interactive Communication, 2009
Walking pattern generation for Humanoid robots with LQR and feedforward control method
Seokmin Hong, Yonghwan Oh, Young-Hwan Chang and Sang-Rok Oh
The 34th Annual Conference of the IEEE Industrial Electronics Society, 2008
Balance Control in Whole Body Coordination Framework for Biped Humanoid Robot MAHRU-R
Young-Hwan Chang, Yonghwan Oh, Doik Kim and Seokmin Hong
IEEE International Conference on Robot and Human Interactive Communication (Ro-MAN), 2008
Vibration Suppression and Balance Control for Biped Humanoid Walking
Young-Hwan Chang, Yonghwan Oh, Doik Kim and Seokmin Hong
The 17th IFAC World Congress, 2008
Design of a Humanoids Specific Anthropomorphic Robot Hand by Imitating Human Finger’s Motion
Sang-ik An, Yonghwan Oh and Sang-Joo Kwon
International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2007
An Omni-directional Walking Pattern Generation Method for Humanoid Robots with Quartic Polynomials
Seokmin Hong, Yonghwan Oh, Young-Hwan Chang and Bum-Jae You
IEEE International Conference on Intelligent Robots and Systems (IROS), 2007
Omni-directional Walking Pattern Generation for Humanoid Robots
Seokmin Hong, Yonghwan Oh, Young-Hwan Chang and Bum-Jae You
Int. Conf. on Advanced Robotics, 2007
An Analytical Method to Generate Walking Pattern of Humanoid Robot
Yonghwan Oh, Kyung-ho Ahn, Doik Kim and ChangHwan Kim
The 32nd Annual Conference of the IEEE Industrial Electronics Society, 2006
Walking Control of a Humanoid Robot via Explicit and Stable CoM Manipulation with Angular Momentum Resolution
Kyung-ho Ahn and Yonghwan Oh
IEEE International Conference on Intelligent Robots and Systems (IROS), 2006
Analytical Walking Pattern Generation Method for Humanoid Robots using Cubic Polynomials
Seokmin Hong, Yonghwan Oh and Bum-Jae You
International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2006
Development of a biped humanoid robot – babybot.
Yonghwan Oh, Youngjin Choi, Bum-Jae You, and Sang Rok Oh
Proceedings of the Inter. Conf. on Mechatronics and Information (ICMIT), 2003
Behavior-based Control of Robotic Hand by Tactile Servoing
Park No-Hoon, Yonghwan Oh, Sang-Rok Oh and Jong Hyeon Park
Proceedings of the Inter. Conf. on Mechatronics and Information (ICMIT), 2003
Direct Teaching for Upper-Body Dual Arm Robot with Whole Body Balancing
조준희, 이동현, 오용환
제어로봇시스템학회 학술대회, 2016
Object Manipulation with Robot Arm-Hand Coordination
천세영, 류광현, 오용환, 오상록
한국로봇종합학술대회, 2014
Design of Spatial Adaptive Finger
김태욱, 오용환, 최용제
한국로봇종합학술대회, 2014
Torque Sensor based Flexible Joint Robot Arm Controller Design
이호선, 오용환, 송재복, 유범재
대한 전기학회 하계학술대회, 2009
Robot Arm Control using Optimized Pinch Grasp Posture Based on Object Shape
M. Felix Orlando, 오용환
대한전기학회 하계학술대회 논문집, 2006
An Analytical Walking Pattern Generation for a Biped Robot
홍석민, 오용환, 유범재
대한전기학회 하계학술대회, 2006
경사계를 이용한 자세제어
장윤영,오용환,박민용
대한전기학회 학학술대회, 2006
Method for modeling robot simplified for stable walking control of bipedal robot
LEE Jongwoo, Yonghwan Oh
Application Number -16463117, 2022
Object recognition apparatus
Youngsu Cha, Jae Hoon Chung, Yonghwan Oh
Application Number -17096092, 2021
System and method for balance control of humanoid
Jung Hoon Kim, Yonghwan Oh
Application Number -16165413, 2021
Comparison Study on Walking Pattern Generation Method of Humanoid Robots for Real-time Implementation
Seokmin Hong, Yonghwan Oh, Doik Kim, Bum-Jae You and Sang-Rok Oh
Workshop on Service Robotics and Nanorobotics (IARP), 2009
A Walking Pattern Generation Method for Humaoid robots using Lest square method and Quartic polynomial
Seokmin Hong, Yonghwan Oh, Young-Hwan Chang and Sang-Rok Oh
In-Tech Book – Humanoid Robots, 2009