Sungmoon Jin — accepted AI-conference papers

2019

Force-controllable Quadruped Robot System with Capacitive-type Joint Torque Sensor

Yoon Haeng Lee, Young Hun Lee, Hyunyong Lee, Hansol Kang, Luong Tin Phan, Sungmoon Jin +6

ICRA 2019poster

This paper introduces a force-controllable quadruped robot system consists of twelve Actuator Modules embedded a novel Capacitive-type Joint Torque Sensor (CJTS) which is accurate (0.05 Nm), robust to impact, and easy to manufacture at low cost. The Actuator Module with CJTS shows accurate joint tor…

Cited by 10 Source ↗Scholar ↗

2019

Whole-Body Motion and Landing Force Control for Quadrupedal Stair Climbing

Young Hun Lee, Yoon Haeng Lee, Hyunyong Lee, Hansol Kang, Yong Bum Kim, Jun Hyuk Lee +5

IROS 2019poster

In this paper, we present a novel framework for quadrupedal stair climbing, which considers force interaction with stairs. For stable and robust climbing, a key issue is to avoid falling down on the stairs. From this point of view, control to minimize rate of change of angular momentum about Center…

Cited by 18 Source ↗Scholar ↗