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Current Research & Ongoing Projects
전신제어 기반 양팔 이동-조작 기술 개발 (2025. 01 ~)
휴머노이드 강인한 자율 이동 작업 기술 개발 (2025. 01 ~)
생활지능공간에서 근접지원 서비스를 위한 바퀴형 휴머노이드 로봇 (2021. 01 ~ 2024. )
Humanoid RL-based Control
Reinforcement Learning Strategy
Planning
Whole-body Control
...
Wheel-legged Humanoid
Rolling & Driving
Whole-body control
Locomotion
Pattern planning
...
Model Predictive Path Integral ( MPPI )
Nonlinear Control
Locomotion
Pattern planning
...
Previous Research
Biped Walking based on Whole-body Control
Whole-body balancing
Locomotion
Push-recovery
Pattern planning
KIST Haptic Interface
Dual Arm-hand Haptic Interface
Compliance Control
Haptic Rendering
Arm-Hand Manipulation
Interaction force control
Safe task teaching
Object manipulation
Hybrid control
Grasping control
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