Youngbum Jun - Academia.edu (original) (raw)
Papers by Youngbum Jun
2010 10th IEEE-RAS International Conference on Humanoid Robots, 2010
Many walking pattern generators for humanoid robots require predefined trajectories for the robot... more Many walking pattern generators for humanoid robots require predefined trajectories for the robot to track. This inflexibility limits the range of real-world environments that the robot can navigate through. For environments with obstacles and inconsistent terrain, the ability to change the walking trajectory becomes valuable. Using a miniature humanoid, a three-dimensional inverted pendulum model and ZMP preview control with ZMP and Foot generator were used to implement a real-time ZMP preview controller. We show the simulation results walking on obstacle field which validates that this approach can generate the all types of walking pattern based on the distance estimated based on the sensor data to the target to step without the predefined trajectory.
2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2012
Pushing is one of many object manipulation strategies that requires interaction with the environm... more Pushing is one of many object manipulation strategies that requires interaction with the environment. Many force control approaches have been proposed for such manipulation. In a force controller implementation for a humanoid robot, however, there is no fixed base. If the required reaction force is greater than the humanoid robot can support, the robot will lose its balance. This paper presents a method to expand these force limits by changing a humanoid robot's posture. Based on Double Inverted Pendulum (DIP) model, the force limitation that the humanoid robot can support is calculated. With a feet-apart strategy and whole-body posture, a method is proposed to maximize the force limitation under the condition that the height of the target object is constant. Finally, comparison of simulation and experimental data validates the approach.
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA), 2013
The upcoming DARPA Robotics Challenge (DRC) presents a demanding set of real-world tasks to be ac... more The upcoming DARPA Robotics Challenge (DRC) presents a demanding set of real-world tasks to be accomplished autonomously by robots. In this paper, we describe the de velopment of a system to control an existing humanoid robot to open a door, one of the many tasks of the DRC. Special emphasis is placed upon generating smooth trajectories which minimize unnecessary motion of the robot. We describe methods for generating and optimizing trajectories for the robot, and present preliminary results demonstrated on the physical robotic platform. To the best of our knowledge, we demonstrate the first large scale application of the CHOMP trajectory optimization in a situation with closed kinematic chain constraints.
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA), 2013
Humanoid robots are attempting ever more complex tasks in lieu of humans. Disaster response is a ... more Humanoid robots are attempting ever more complex tasks in lieu of humans. Disaster response is a promising area for the use of humanoids due to safety concerns. However, controlling a high DOF humanoid robot to autonomously perform a complex task in unknown and unstructured environments is challenging. In this paper we describe a simulation framework for humanoid grasping and transport tasks that includes dynamics, and is easily ported to a real physical humanoid robot. The system can be used to rapidly prototype humanoid motions and dynamics in simulation, and can then be ported to the physical hardware. Experimental results are presented, both in simulation and physical experiments, with the HUBO humanoid, on a task from the DARPA Robotics Challenge, attaching a fire hose to a hydrant.
2013 International Conference on Unmanned Aircraft Systems (ICUAS), 2013
A hardware-in-the-loop test rig is presented to bridge the gap between basic aerial manipulation ... more A hardware-in-the-loop test rig is presented to bridge the gap between basic aerial manipulation research and the ability of flying robots to perform tasks such as door opening, bridge repair, agriculture care, and other applications requiring interaction with the environment. Unmanned aerial vehicles have speed and mobility advantages over ground vehicles and can operate in 3-dimensional workspaces. In particular, the usefulness of these capabilities is highlighted in areas where ground robots cannot reach or terrains they are unable to navigate. However, most UAVs operating in nearearth or indoor environments still do not have the payload capabilities to support multi-degree of freedom manipulators. We present a rotorcraft emulation environment using a 7 degree of freedom manipulator. Since UAVs require significant setup time and to avoid potential crashes, our test and evaluation environment provides repeatable experiments and captures reactionary forces experienced during ground interaction. Our preliminary results indicate that we can accurately model, emulate, and control our aircraft-manipulator system during both arm actuation and interacting with target objects.
2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2014
Up to now humanoid robots have been designed primarily for walking on flat surfaces. In the futur... more Up to now humanoid robots have been designed primarily for walking on flat surfaces. In the future, humanoid robots are required to replace human beings to operate in natural or damaged man-engineered environments. In the 2013 DARPA Robotics Challenge, the robots are required to walk through several type of rough terrains. In this scenario, the robot will be challenged to keep balance and fulfill the tasks while walking. We have developed several balance gaits and associated controllers. The latter collaborate with a computer vision system to enable our humanoid robot DRC-Hubo to walk over rough terrains. Both theoretical and experimental results are presented to verify the approach.
Biomechanics / 752: Robotics, 2011
ABSTRACT
2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2014
ABSTRACT In this work, we present a framework for teleoperation of manipulation tasks under low b... more ABSTRACT In this work, we present a framework for teleoperation of manipulation tasks under low bandwidth, high latency conditions. This framework allows us to combine multiple manipulation and walking strategies to quickly adapt to changing mission parameters and conditions. In particular, this framework addresses the challenges of the hose attachment task of the DARPA Robotics Challenge, which encompasses walking with drag, grasping in constrained environments, and complex, close chain manipulation.
Up to now humanoid robots have been designed primarily for walking on flat surfaces. In the futur... more Up to now humanoid robots have been designed primarily for walking on flat surfaces. In the future, humanoid robots are required to replace human beings to operate in natural or damaged man-engineered environments. In such environments, the robots may have to walk on rough surfaces such as grass, sands or rocks, which all impose great challenges to the stability of biped locomotion due to uncertainties and deformations of these surfaces. We investigate how humanoid robots can walk on these surfaces, using the Hubo 2+humanoid robot as the target of study. We will first introduce the overall structure of Hubo 2+, and model the deformation characteristics these surfaces. Then new walking patterns, a "step-over" gait and a ski-type gait, are proposed as a global approach to maintain stability while compliant motion is used to solve the robust foot-holding problem. Simulation and experimental results are presented to verify the new approaches.
2010 10th IEEE-RAS International Conference on Humanoid Robots, 2010
Many walking pattern generators for humanoid robots require predefined trajectories for the robot... more Many walking pattern generators for humanoid robots require predefined trajectories for the robot to track. This inflexibility limits the range of real-world environments that the robot can navigate through. For environments with obstacles and inconsistent terrain, the ability to change the walking trajectory becomes valuable. Using a miniature humanoid, a three-dimensional inverted pendulum model and ZMP preview control with ZMP and Foot generator were used to implement a real-time ZMP preview controller. We show the simulation results walking on obstacle field which validates that this approach can generate the all types of walking pattern based on the distance estimated based on the sensor data to the target to step without the predefined trajectory.
2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2012
Pushing is one of many object manipulation strategies that requires interaction with the environm... more Pushing is one of many object manipulation strategies that requires interaction with the environment. Many force control approaches have been proposed for such manipulation. In a force controller implementation for a humanoid robot, however, there is no fixed base. If the required reaction force is greater than the humanoid robot can support, the robot will lose its balance. This paper presents a method to expand these force limits by changing a humanoid robot's posture. Based on Double Inverted Pendulum (DIP) model, the force limitation that the humanoid robot can support is calculated. With a feet-apart strategy and whole-body posture, a method is proposed to maximize the force limitation under the condition that the height of the target object is constant. Finally, comparison of simulation and experimental data validates the approach.
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA), 2013
The upcoming DARPA Robotics Challenge (DRC) presents a demanding set of real-world tasks to be ac... more The upcoming DARPA Robotics Challenge (DRC) presents a demanding set of real-world tasks to be accomplished autonomously by robots. In this paper, we describe the de velopment of a system to control an existing humanoid robot to open a door, one of the many tasks of the DRC. Special emphasis is placed upon generating smooth trajectories which minimize unnecessary motion of the robot. We describe methods for generating and optimizing trajectories for the robot, and present preliminary results demonstrated on the physical robotic platform. To the best of our knowledge, we demonstrate the first large scale application of the CHOMP trajectory optimization in a situation with closed kinematic chain constraints.
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA), 2013
Humanoid robots are attempting ever more complex tasks in lieu of humans. Disaster response is a ... more Humanoid robots are attempting ever more complex tasks in lieu of humans. Disaster response is a promising area for the use of humanoids due to safety concerns. However, controlling a high DOF humanoid robot to autonomously perform a complex task in unknown and unstructured environments is challenging. In this paper we describe a simulation framework for humanoid grasping and transport tasks that includes dynamics, and is easily ported to a real physical humanoid robot. The system can be used to rapidly prototype humanoid motions and dynamics in simulation, and can then be ported to the physical hardware. Experimental results are presented, both in simulation and physical experiments, with the HUBO humanoid, on a task from the DARPA Robotics Challenge, attaching a fire hose to a hydrant.
2013 International Conference on Unmanned Aircraft Systems (ICUAS), 2013
A hardware-in-the-loop test rig is presented to bridge the gap between basic aerial manipulation ... more A hardware-in-the-loop test rig is presented to bridge the gap between basic aerial manipulation research and the ability of flying robots to perform tasks such as door opening, bridge repair, agriculture care, and other applications requiring interaction with the environment. Unmanned aerial vehicles have speed and mobility advantages over ground vehicles and can operate in 3-dimensional workspaces. In particular, the usefulness of these capabilities is highlighted in areas where ground robots cannot reach or terrains they are unable to navigate. However, most UAVs operating in nearearth or indoor environments still do not have the payload capabilities to support multi-degree of freedom manipulators. We present a rotorcraft emulation environment using a 7 degree of freedom manipulator. Since UAVs require significant setup time and to avoid potential crashes, our test and evaluation environment provides repeatable experiments and captures reactionary forces experienced during ground interaction. Our preliminary results indicate that we can accurately model, emulate, and control our aircraft-manipulator system during both arm actuation and interacting with target objects.
2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2014
Up to now humanoid robots have been designed primarily for walking on flat surfaces. In the futur... more Up to now humanoid robots have been designed primarily for walking on flat surfaces. In the future, humanoid robots are required to replace human beings to operate in natural or damaged man-engineered environments. In the 2013 DARPA Robotics Challenge, the robots are required to walk through several type of rough terrains. In this scenario, the robot will be challenged to keep balance and fulfill the tasks while walking. We have developed several balance gaits and associated controllers. The latter collaborate with a computer vision system to enable our humanoid robot DRC-Hubo to walk over rough terrains. Both theoretical and experimental results are presented to verify the approach.
Biomechanics / 752: Robotics, 2011
ABSTRACT
2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2014
ABSTRACT In this work, we present a framework for teleoperation of manipulation tasks under low b... more ABSTRACT In this work, we present a framework for teleoperation of manipulation tasks under low bandwidth, high latency conditions. This framework allows us to combine multiple manipulation and walking strategies to quickly adapt to changing mission parameters and conditions. In particular, this framework addresses the challenges of the hose attachment task of the DARPA Robotics Challenge, which encompasses walking with drag, grasping in constrained environments, and complex, close chain manipulation.
Up to now humanoid robots have been designed primarily for walking on flat surfaces. In the futur... more Up to now humanoid robots have been designed primarily for walking on flat surfaces. In the future, humanoid robots are required to replace human beings to operate in natural or damaged man-engineered environments. In such environments, the robots may have to walk on rough surfaces such as grass, sands or rocks, which all impose great challenges to the stability of biped locomotion due to uncertainties and deformations of these surfaces. We investigate how humanoid robots can walk on these surfaces, using the Hubo 2+humanoid robot as the target of study. We will first introduce the overall structure of Hubo 2+, and model the deformation characteristics these surfaces. Then new walking patterns, a "step-over" gait and a ski-type gait, are proposed as a global approach to maintain stability while compliant motion is used to solve the robust foot-holding problem. Simulation and experimental results are presented to verify the new approaches.