2. 구조물 내진성능 평가 및 향상 기법 연구

3. 진동제어 및 저감 기술 개발

4. 역동적인 움직임이 가능한 2족 및 4족 보행 로봇 개발

• Model Predictive Control / Whole-Body Control for bipedal and quadrupedal robots

• Reinforcement Learning (RL) for analyzing gaits, running patterns, and their smooth transitions

• Real-time force control for highly dynamic motions

• Development of high-power torque motors integrated with real-time force & displacement control modules

• SLAM (Simultaneous Localization and Mapping)

• Autonomous motion control using LiDAR and optical camera

Each leg of cheetah only touches the ground for about 30~40msec in a single cycle of sprint motion, where the impulsive loading is accurately controlled for chasing the prey. New technologies for real-time force/displacement control will enable highly dynamic bipedal and quadrupedal robots that can even run as fast as cheetah.