Robust Landing Stabilization of Humanoid Robot on Uneven Terrain via Admittance Control and Heel Strike Motion
Joonhee Jo, Gyunghoon Park, Yonghwan Oh
legged locomotionlanding stabilizationadmittance control
Publications
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Robust Walking Stabilization Strategy of Humanoid Robots on Uneven Terrain via QP-based Impedance/Admittance Control
Joonhee Jo, Gyunghoon Park, Yonghwan Oh
legged locomotionwalking stabilizationimpedance/admittance control
Contact Force based Balancing and Tracking Control of a Ballbot using Projected Task Space Dynamics with Inequality Constraints
Joonhee Jo, Yonghwan Oh
ballbotprojected task space dynamicscontact force balancing
Impedance Control of Humanoid Walking on Uneven Terrain With Centroidal Momentum Dynamics Using Quadratic Programming
Joonhee Jo, Yonghwan Oh
legged locomotionimpedance controlcentroidal momentum dynamics
Lyapunov-based Approach to Reactive Step Generation for Push Recovery of Biped Robots via Hybrid Tracking Control of {DCM}
Gyunghoon Park, Jung Hoon Kim, Joonhee Jo, Yonghwan Oh
legged locomotionreactive step generationpush recovery
A Comparison Study on Coupling Effects in Balance Control Methods of Humanoid Robots through an Extended Task Space Formulation
Seungjae Yoo, Joonhee Jo, Yonghwan Oh
legged locomotionextended task space formulationcoupling effects in balance control
Direct Teaching for Upper-Body Dual Arm Robot with Whole Body Balancing
Joonhee Jo, DongHyun Lee, Yonghwan Oh
direct teachingupper-body dual arm robot
An on-line gravity estimation method using inverse gravity regressor for robot manipulator control
Joonhee Jo, DongHyun Lee, Duc Trong Tran, Yonghwan Oh, Sang-Rok Oh
online gravity estimationinverse gravity regressor
Task-Space Torque Controller Based on Time-Delay Control
Sung-moon Hur, Joonhee Jo, Yonghwan Oh
Whole-body Control of Upper-body Robot for Picking up a heavy object
Dong-hyun Lee, Sungmoon Hur, Jo Joonhee, Yonghwan Oh
Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh
robot handhand writingmulti-contact
Grasping force control of a robotic hand based on a torque-velocity transformation using F/T sensors with gravity compensation
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh
robot handgrasping force controltorque-velocity transformation
Strategy of internal force design without object com information
Jo Joonhee, Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh
robotic handinternal force design
Strategy of Stable Grasp and Internal Force Control Using Multi-Fingered Human-link Robotic Hand
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh
robotic handstable grasp strategyinternal force control
Center-of-Mass and Manipulator Control of Upper-Body Dual Arm Robot
Kwanghyun Ryu, Yonghwan Oh, Joonhee Jo
Upper-body dual arm robotCoM control
Contact force control of a robotic hand using F/T sensory feedback with a rigid object
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh
robot handcontact force control
Grasping Force Control of Three Fingers of a Human-like Robotic Hand Using F/T Sensory Feedback
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh
robot handgrasping force control
Compliance control of a position controlled robotic hand using F/T sensorsn
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh
robot handcompliance control