Yun-Ho Han

2 accepted papers

2026

ADAPT: Advanced Differential and Agile Parallel Transmission Mechanism for High-Performance Humanoid Robots

RA-L 2026

Agile humanoid locomotion requires high joint torque and velocity, but conventional serial actuation, whether using high-reduction or Quasi-Direct Drive (QDD) actuators, faces limitations in size, weight, and efficiency. This paper proposes the Advanced Differential and Agile Parallel Transmission (

Cited by 0 Source ↗Scholar ↗

2022

Walking Control Framework on Uneven Terrain Using Variable Stiffness Sole

Yun-Ho Han, Junyeon Namgung, Baek-Kyu Cho

IROS 2022poster

Although many walking control frameworks have been developed to enable biped robots to walk stably on uneven terrain, the foot sole of the robot is also important. Inspired by that study, we have developed a Variable Stiffness Sole (VSS), which is able to adapt to the shape of the obstacles on the g…

Cited by 3 Source ↗Scholar ↗