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So far kirhubo has created 24 blog entries.

‘미래 핵심기술과 유망직업은’…10일 대전시청서 로드쇼

By |2019-05-07T09:59:04+09:005월 7th, 2019|

https://www.mk.co.kr/news/it/view/2019/05/283377/ 미래 유망한 핵심기술과 직업을 탐색하는 자리가 마련된다. 대전시는 오는 10일 오후 1시 30분께 시청 대강당에서 '4차 산업혁명과 미래직업 교육로드쇼'가 열린다고 2일 밝혔다. '미래기술' 세션에서는 오준호 한국과학기술원(KAIST) 교수가 '로봇 기술과 미래'에 대해 소개한다. 송길영 다음소프트 부사장은 '빅데이터, 세상을 읽다'라는 주제로 강연한다. '미래직업' 세션서는 한상근 한국직업능력개발원 센터장이 미래 유망한 직업을 소개하고 유영만 한양대 교수가 4차 산업혁명 [...]

Motion Description Script

By |2019-04-25T09:51:29+09:004월 25th, 2019|

Motion Description Script MDS is a script language for specifying motions of a multi-agent system. As a multi-agent system could be expandable, MDS can adapt to any changed of the configuration of robotic hardware. So it is not restricted by the morphology of a certain robot. We designed a script language for controlling [...]

4 wheel transformable Mobile platform

By |2019-04-25T09:15:56+09:004월 25th, 2019|

4 wheel transformable Mobile platform We developed a mobile platform capable of transforming between 4 wheel rapid driving mode with ZMP stabilization and 2 wheel balancing mode. Usually, the 4 wheel mobile platforms have low acceleration due to the high center of mass. Using the model-based ZMP stabilization method, we achieved high acceleration [...]

Compliant Control

By |2019-04-24T17:21:57+09:004월 24th, 2019|

Compliant Control The Cartesian computed torque method is applied on the highly geared actuators equipped with electric motors and encoders for compliant control. The main purpose of the compliant control is to secure the joint compliance on the Cartesian coordinate with maintaining user-defined posture. The force amplification is possible using force feedback based [...]

Real time Controller

By |2019-04-24T17:00:13+09:004월 24th, 2019|

Real time Controller Overview For an elaborate control of robots, real-time control is very important issue. But to make a system as real-time controlled system, we need special tools. For example, RTX(Real Time extension) under Windows operating system and RT Patch, RTAI, Xenomai and so on under Linux system. We chose Xenomai on [...]

Hubo Running

By |2019-04-24T12:21:40+09:004월 24th, 2019|

Hubo Running Running Pattern Generation1) Problem of Resolved Momentum Control - Hopping and Running have a flight phase. - Biped can rotate itself during a flight phase. - Rotation can make unstable landing. Set Angular Momentum of COM = 0 Make the perfect trajectories of Linear and angular momentum Unnatural body motion It [...]

Hubo Walking

By |2019-04-24T12:10:29+09:004월 24th, 2019|

Hubo Walking Walking is the essential requirement of a humanoid robot. We have been exploring how the robot can walk stably and how we can control the robot. The walking algorithm of the HUBO series consists of two categories: walking pattern generation and walking control Walking Pattern Generation 1)Parametric Methods Walking pattern [...]