MINSU KIM - Academia.edu (original) (raw)

Papers by MINSU KIM

Research paper thumbnail of Development of Biped Humanoid Robots at the Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology (KAIST)

Humanoid Robots, Human-like Machines, 2007

Recently, many studies have focused on the development of humanoid biped robot platforms. Some of... more Recently, many studies have focused on the development of humanoid biped robot platforms. Some of the well-known humanoid robots are Honda's humanoid robots, the WABIAN series of robots from Waseda University, Partner, QRIO, H6 and H7, HRP and JOHNNIE. Given that humanoids are complex, expensive and unstable, designers face difficulties in constructing the mechanical body, integrating the hardware system, and realizing real-time motion and stability control based on human-like sensory feedback. Among the robots, HRP and ASIMO are the most well known humanoid robot platforms. HRP-3P is a humanoid robot developed jointly by the National Institute of Advanced Industrial Science and Technology and Kawada Industries, Inc in Japan. It stands 1.6 m tall, weighs 65 kg, and has 36 degrees of freedom (DOF). Upgraded from HRP-2, the new platform is protected against dust and water. In addition, Honda has unveiled a new type of ASIMO, termed the ASIMO Type-R, which stands 1.3 m tall, weighs 54 kg, and has 34 DOF. With the i-WALK technology, this robot has an impressive walking feature: it can walk at 2.7 km/h, and run at 6 km/h. HUBO is essentially an upgraded version of KHR-2. The objective of the development of HUBO was to develop a reliable and handsome humanoid platform that enables the implementation of various theories and algorithms such as dynamic walking, navigation, human interaction, and visual and image recognition. With the focus on developing a human-friendly robot that looks and moves like humans, one focus was on closely aligning the mechanical design with an artistic exterior design. This chapter also discusses the development of control hardware and the system integration of the HUBO platform. Numerous electrical components for controlling the robot have been developed and integrated into the robot. Servo controllers, sensors, and interface hardware in the robot have been explained. Electrical hardware, mechanical design, sensor technology and the walking algorithm are integrated in this robot for the realization of biped walking. This system integration technology is very important for the realization of this biped humanoid.

Research paper thumbnail of Development of Biped Humanoid Robots at the Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology (KAIST)

Humanoid Robots, Human-like Machines, 2007

Recently, many studies have focused on the development of humanoid biped robot platforms. Some of... more Recently, many studies have focused on the development of humanoid biped robot platforms. Some of the well-known humanoid robots are Honda's humanoid robots, the WABIAN series of robots from Waseda University, Partner, QRIO, H6 and H7, HRP and JOHNNIE. Given that humanoids are complex, expensive and unstable, designers face difficulties in constructing the mechanical body, integrating the hardware system, and realizing real-time motion and stability control based on human-like sensory feedback. Among the robots, HRP and ASIMO are the most well known humanoid robot platforms. HRP-3P is a humanoid robot developed jointly by the National Institute of Advanced Industrial Science and Technology and Kawada Industries, Inc in Japan. It stands 1.6 m tall, weighs 65 kg, and has 36 degrees of freedom (DOF). Upgraded from HRP-2, the new platform is protected against dust and water. In addition, Honda has unveiled a new type of ASIMO, termed the ASIMO Type-R, which stands 1.3 m tall, weighs 54 kg, and has 34 DOF. With the i-WALK technology, this robot has an impressive walking feature: it can walk at 2.7 km/h, and run at 6 km/h. HUBO is essentially an upgraded version of KHR-2. The objective of the development of HUBO was to develop a reliable and handsome humanoid platform that enables the implementation of various theories and algorithms such as dynamic walking, navigation, human interaction, and visual and image recognition. With the focus on developing a human-friendly robot that looks and moves like humans, one focus was on closely aligning the mechanical design with an artistic exterior design. This chapter also discusses the development of control hardware and the system integration of the HUBO platform. Numerous electrical components for controlling the robot have been developed and integrated into the robot. Servo controllers, sensors, and interface hardware in the robot have been explained. Electrical hardware, mechanical design, sensor technology and the walking algorithm are integrated in this robot for the realization of biped walking. This system integration technology is very important for the realization of this biped humanoid.

Research paper thumbnail of 1.2-mW Online Learning Mixed-Mode Intelligent Inference Engine for Low-Power Real-Time Object Recognition Processor

IEEE Transactions on Very Large Scale Integration (VLSI) Systems, 2000

Object recognition is computationally intensive and it is challenging to meet 30-f/s real-time pr... more Object recognition is computationally intensive and it is challenging to meet 30-f/s real-time processing demands under sub-watt low-power constraints of mobile platforms even for heterogeneous many-core architecture. In this paper, an intelligent inference engine (IIE) is proposed as a hardware controller for a many-core processor to satisfy the requirements of low-power real-time object recognition. The IIE exploits learning and inference capabilities of the neurofuzzy system by adopting the versatile adaptive neurofuzzy inference system (VANFIS) with the proposed hardware-oriented learning algorithm. Using the programmable VANFIS, the IIE can configure its hardware topology adaptively for different target classifications. Its architecture contains analog/digital mixed-mode neurofuzzy circuits for updating online parameters to increase attention efficiency of object recognition process. It is implemented in 0.13-µm CMOS process and achieves 1.2-mW power consumption with 94% average classification accuracy within 1-µs operation delay. The 0.765-mm 2 IIE achieves 76% attention efficiency and reduces power and processing delay of the 50-mm 2 image processor by up to 37% and 28%, respectively, when 96% recognition accuracy is achieved.

Research paper thumbnail of Development of Biped Humanoid Robots at the Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology (KAIST)

Humanoid Robots, Human-like Machines, 2007

Recently, many studies have focused on the development of humanoid biped robot platforms. Some of... more Recently, many studies have focused on the development of humanoid biped robot platforms. Some of the well-known humanoid robots are Honda's humanoid robots, the WABIAN series of robots from Waseda University, Partner, QRIO, H6 and H7, HRP and JOHNNIE. Given that humanoids are complex, expensive and unstable, designers face difficulties in constructing the mechanical body, integrating the hardware system, and realizing real-time motion and stability control based on human-like sensory feedback. Among the robots, HRP and ASIMO are the most well known humanoid robot platforms. HRP-3P is a humanoid robot developed jointly by the National Institute of Advanced Industrial Science and Technology and Kawada Industries, Inc in Japan. It stands 1.6 m tall, weighs 65 kg, and has 36 degrees of freedom (DOF). Upgraded from HRP-2, the new platform is protected against dust and water. In addition, Honda has unveiled a new type of ASIMO, termed the ASIMO Type-R, which stands 1.3 m tall, weighs 54 kg, and has 34 DOF. With the i-WALK technology, this robot has an impressive walking feature: it can walk at 2.7 km/h, and run at 6 km/h. HUBO is essentially an upgraded version of KHR-2. The objective of the development of HUBO was to develop a reliable and handsome humanoid platform that enables the implementation of various theories and algorithms such as dynamic walking, navigation, human interaction, and visual and image recognition. With the focus on developing a human-friendly robot that looks and moves like humans, one focus was on closely aligning the mechanical design with an artistic exterior design. This chapter also discusses the development of control hardware and the system integration of the HUBO platform. Numerous electrical components for controlling the robot have been developed and integrated into the robot. Servo controllers, sensors, and interface hardware in the robot have been explained. Electrical hardware, mechanical design, sensor technology and the walking algorithm are integrated in this robot for the realization of biped walking. This system integration technology is very important for the realization of this biped humanoid.

Research paper thumbnail of Development of Biped Humanoid Robots at the Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology (KAIST)

Humanoid Robots, Human-like Machines, 2007

Recently, many studies have focused on the development of humanoid biped robot platforms. Some of... more Recently, many studies have focused on the development of humanoid biped robot platforms. Some of the well-known humanoid robots are Honda's humanoid robots, the WABIAN series of robots from Waseda University, Partner, QRIO, H6 and H7, HRP and JOHNNIE. Given that humanoids are complex, expensive and unstable, designers face difficulties in constructing the mechanical body, integrating the hardware system, and realizing real-time motion and stability control based on human-like sensory feedback. Among the robots, HRP and ASIMO are the most well known humanoid robot platforms. HRP-3P is a humanoid robot developed jointly by the National Institute of Advanced Industrial Science and Technology and Kawada Industries, Inc in Japan. It stands 1.6 m tall, weighs 65 kg, and has 36 degrees of freedom (DOF). Upgraded from HRP-2, the new platform is protected against dust and water. In addition, Honda has unveiled a new type of ASIMO, termed the ASIMO Type-R, which stands 1.3 m tall, weighs 54 kg, and has 34 DOF. With the i-WALK technology, this robot has an impressive walking feature: it can walk at 2.7 km/h, and run at 6 km/h. HUBO is essentially an upgraded version of KHR-2. The objective of the development of HUBO was to develop a reliable and handsome humanoid platform that enables the implementation of various theories and algorithms such as dynamic walking, navigation, human interaction, and visual and image recognition. With the focus on developing a human-friendly robot that looks and moves like humans, one focus was on closely aligning the mechanical design with an artistic exterior design. This chapter also discusses the development of control hardware and the system integration of the HUBO platform. Numerous electrical components for controlling the robot have been developed and integrated into the robot. Servo controllers, sensors, and interface hardware in the robot have been explained. Electrical hardware, mechanical design, sensor technology and the walking algorithm are integrated in this robot for the realization of biped walking. This system integration technology is very important for the realization of this biped humanoid.

Research paper thumbnail of 1.2-mW Online Learning Mixed-Mode Intelligent Inference Engine for Low-Power Real-Time Object Recognition Processor

IEEE Transactions on Very Large Scale Integration (VLSI) Systems, 2000

Object recognition is computationally intensive and it is challenging to meet 30-f/s real-time pr... more Object recognition is computationally intensive and it is challenging to meet 30-f/s real-time processing demands under sub-watt low-power constraints of mobile platforms even for heterogeneous many-core architecture. In this paper, an intelligent inference engine (IIE) is proposed as a hardware controller for a many-core processor to satisfy the requirements of low-power real-time object recognition. The IIE exploits learning and inference capabilities of the neurofuzzy system by adopting the versatile adaptive neurofuzzy inference system (VANFIS) with the proposed hardware-oriented learning algorithm. Using the programmable VANFIS, the IIE can configure its hardware topology adaptively for different target classifications. Its architecture contains analog/digital mixed-mode neurofuzzy circuits for updating online parameters to increase attention efficiency of object recognition process. It is implemented in 0.13-µm CMOS process and achieves 1.2-mW power consumption with 94% average classification accuracy within 1-µs operation delay. The 0.765-mm 2 IIE achieves 76% attention efficiency and reduces power and processing delay of the 50-mm 2 image processor by up to 37% and 28%, respectively, when 96% recognition accuracy is achieved.