Kiyoung Choi — accepted AI-conference papers

2025

Robust Orientation Control of Robot Manipulator Using Orientation Disturbance Observer

Kiyoung Choi, Junho Song, Wonbum Yun, Sehoon Oh

ICRA 2025

This paper presents a robust control algorithm for precise orientation control of robot manipulators using a disturbance observer (DOB) specifically designed for orientation dynamics. Our approach addresses the challenges of 3D orientation control by incorporating various orientation representations

Cited by 1 Source ↗Scholar ↗

2024

Identification of Flexible Joint Robot Inertia Matrix Using Frequency Response Analysis

Kiyoung Choi, Junho Song, Wonbum Yun, Deokjin Lee, Sehoon Oh

IROS 2024poster

This paper presents a novel, nonlinearity robust identification method for deriving the inertia matrix of multi-DOF Flexible Joint Robots (FJR), utilizing resonance and anti-resonance frequencies in the Frequency Response Functions (FRF). Our proposed method overcomes the limitations of conventional…

Cited by 1 Source ↗Scholar ↗