Development of an Electro-hydraulic Soft Zipping Actuator with Self-sensing Mechanism

Dongyoung Lee, Bokeon Kwak, Joonbum Bae

Soft fluidic actuators (SFAs) are widely utilized in various areas such as wearable systems due to the inherent compliance which allows safe and flexible intera...

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DOI: https://doi.org/10.7746/jkros.2021.16.2.079

Energy Efficient Control of Onboard Hydraulic Power Unit for Hydraulic Bipedal Robots

Buyoun Cho, Sung-Woo Kim, Seunghoon Shin, Min-Su Kim, Jun-Ho Oh, Hae-Won Park

This paper proposes a controller to regulate the supply pressure of the hydraulic power unit (HPU) for driving a bipedal robot. We establish flow rate models fo...

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DOI: https://doi.org/10.7746/jkros.2021.16.2.086

Study on Seabed Mapping using Two Sonar Devices for AUV Application

Hangil Joe, Son-Cheol Yu

This study addresses a method for 3D reconstruction using acoustic data with heterogeneous sonar devices: Forward-Looking Multibeam Sonar (FLMS) and Profiling S...

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DOI: https://doi.org/10.7746/jkros.2021.16.2.094

A Low-Cost Lidar Sensor based Glass Feature Extraction Method for an Accurate Map Representation using Statistical Moments

Ye Chan An, Seung Hwan Lee

This study addresses a low-cost lidar sensor-based glass feature extraction method for an accurate map representation using statistical moments, i.e. the mean a...

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DOI: https://doi.org/10.7746/jkros.2021.16.2.103

High-Definition Map-based Local Path Planning for Dynamic and Static Obstacle Avoidance

Euigon Jung, Wonho Song, Hyun Myung

Unlike a typical small-sized robot navigating in a free space, an autonomous vehicle has to travel in a designated road which has lanes to follow and traffic ru...

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DOI: https://doi.org/10.7746/jkros.2021.16.2.112

RL-based Path Planning for SLAM Uncertainty Minimization in Urban Mapping

Younghun Cho, Ayoung Kim

For the Simultaneous Localization and Mapping (SLAM) problem, a different path results in different SLAM results. Usually, SLAM follows a trail of input data. A...

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DOI: https://doi.org/10.7746/jkros.2021.16.2.122

Grasping Algorithm using Point Cloud-based Deep Learning

Joon-Hyup Bae, HyunJun Jo, Jae-Bok Song

In recent years, much study has been conducted in robotic grasping. The grasping algorithms based on deep learning have shown better grasping performance than t...

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DOI: https://doi.org/10.7746/jkros.2021.16.2.130

Singularity Avoidance Path Planning on Cooperative Task of Dual Manipulator Using DDPG Algorithm

Jonghak Lee, Kyeongsoo Kim, Yunjae Kim, Jangmyung Lee

When controlling manipulator, degree of freedom is lost in singularity so specific joint velocity does not propagate to the end effector. In addition, control p...

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DOI: https://doi.org/10.7746/jkros.2021.16.2.137

Fast and Safe Contact Establishment Strategy for Biped Walking Robot

Hosang Lee, Jaesug Jung, Junewhee Ahn, Jaeheung Park

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The p...

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DOI: https://doi.org/10.7746/jkros.2021.16.2.147

System for Leveling Landing Surface in Response to Changes in Quadcopter Posture

Yeongkeun Kwon, Donghun Cheon, Seonghyeon Hwang, Jiwook Choi, Hosun Kang, Jangmyung Lee

In this paper, we propose a four 2-link robotic leg landing system that is used for leveling the bottom of the landing system, even when the quadcopter posture ...

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DOI: https://doi.org/10.7746/jkros.2021.16.2.155