Min-Su Kim — accepted AI-conference papers

2021

Design of a Compact Embedded Hydraulic Power Unit for Bipedal Robots

Buyoun Cho, Min-Su Kim, Sung-Woo Kim, Seunghoon Shin, Yeseong Jeong, Jun-Ho Oh +1

RA-L 2021

This letter proposes a design method of a compact embedded hydraulic power unit (HPU) for a bipedal robot and a controller to regulate the supply pressure. The HPU consists of an integrated pump-motor unit. The unit is immersed in hydraulic oil for efficient space utilization and heat dissipation fr

Cited by 16 Source ↗Scholar ↗

2021

Dynamic Humanoid Locomotion Over Rough Terrain With Streamlined Perception-Control Pipeline

Moonyoung Lee, Youngsun Kwon, Sebin Lee, JongHun Choe, Junyong Park, Hyobin Jeong +5

IROS 2021poster

Vision aided dynamic exploration on bipedal robots poses an integrated challenge for perception and control. Rapid walking motions as well as the vibrations caused by the landing-foot contact-force introduce critical uncertainty in the visual-inertial system, which can cause the robot to misplace it…

Cited by 4 Source ↗Scholar ↗