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Journal of Korea Robotics Society
Current Issue
Effective Policy Search Method for Robot Reinforcement Learning with Noisy Reward
Young-Ha Yang, Cheol-Soo Lee
Robots are widely used in industries and services. Traditional robots have been used to perform repetitive tasks in a fixed environment, and it is very difficul...
Chanho Song, Jaebum Son, Euisung Jung, Hoyul Lee, Young-Sang Park, Yoosoo Jeong
In this paper, we proposed the method of virtual reality-based surgical navigation to reproduce the pre-planned position and angle of the pedicle screw in spina...
Computational Cost Reduction Method for HQP-based Hierarchical Controller for Articulated Robot
Mingyu Park, Dongwhan Kim, Yonghwan Oh, Yisoo Lee
This paper presents a method that can reduce the computational cost of the hierarchical quadratic programming (HQP)-based robot controller. Hierarchical control...
3D Multi-floor Precision Mapping and Localization for Indoor Autonomous Robots
Gyuree Kang, Daegyu Lee, Hyunchul Shim
Moving among multiple floors is one of the most challenging tasks for indoor autonomous robots. Most of the previous researches for indoor mapping and localizat...
Collision Avoidance Based on Null Space Projection for a Nonholonomic Mobile Manipulator
KyeJin Kim, InHwan Yoon, Jae-Bok Song
Since the mobile platform and the manipulator mounted on it move at the same time in a mobile manipulator, the risk of mutual collision increases. Most of the s...
Visual Object Manipulation Based on Exploration Guided by Demonstration
Doo-Jun Kim, HyunJun Jo, Jae-Bok Song
A reward function suitable for a task is required to manipulate objects through reinforcement learning. However, it is difficult to design the reward function i...
Control Strategies for Landing Quadcopters on Ships with Legged Platform Based on Impedance Control
Seonghyeon Hwang, Seunghyeon Lee, Seongho Jin, Inho Lee
In this paper, we propose a legged landing platform for the quadcopter taking off and landing in the ship environment. In the ship environment with waves and wi...
Seunghyeon Lee, Seongho Jin, Seonghyeon Hwang, Inho Lee
In this paper, we propose an approach resolving inaccuracy of the low-cost redundant manipulator workspace with low encoder and low stiffness. When the manipula...
Analytical Approach to Deformation of a Soft Rotary Actuator with Double Curvature Shell Shape
Young min Lee, Hyouk ryeol Choi, Ja choon Koo
In this paper, we considered the deformation shape of the soft rotation actuator as a double curvature shell and proceeded with the analytical development. Sinc...
Online Adaptation of Control Parameters with Safe Exploration by Control Barrier Function
Suyeong Kim, Hungsun Son
One of the most fundamental challenges when designing controllers for dynamic systems is the adjustment of controller parameters. Usually the system model is us...
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