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Joon-Ha Kim
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Real-time constrained nonlinear model predictive control on SO(3) for dynamic legged locomotion
S Hong, JH Kim, HW Park
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020
332020
Legged robot state estimation with dynamic contact event information
JH Kim, S Hong, G Ji, S Jeon, J Hwangbo, JH Oh, HW Park
IEEE Robotics and Automation Letters 6 (4), 6733-6740, 2021
232021
STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor
Y Kim, B Yu, E Lee, JH Kim, HW Park, H Myung
IEEE Robotics and Automation Letters, 2022
162022
Design of KAIST HOUND, a quadruped robot platform for fast and efficient locomotion with mixed-integer nonlinear optimization of a gear train
YH Shin, S Hong, S Woo, JH Choe, H Son, G Kim, JH Kim, KK Lee, ...
2022 International Conference on Robotics and Automation (ICRA), 6614-6620, 2022
122022
Monte carlo tree search gait planner for non-gaited legged system control
L Amatucci, JH Kim, J Hwangbo, HW Park
2022 international conference on robotics and automation (ICRA), 4701-4707, 2022
122022
Avoiding Obstacles during Push Recovery Using Real-Time Vision Feedback
H Jeong, JH Kim, O Sim, JH Oh
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
92019
Contact-implicit mpc: Controlling diverse quadruped motions without pre-planned contact modes or trajectories
G Kim, D Kang, JH Kim, S Hong, HW Park
arXiv preprint arXiv:2312.08961, 2023
32023
Contact-implicit differential dynamic programming for model predictive control with relaxed complementarity constraints
G Kim, D Kang, JH Kim, HW Park
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022
22022
Invariant Smoother for Legged Robot State Estimation With Dynamic Contact Event Information
Z Yoon, JH Kim, HW Park
IEEE Transactions on Robotics, 2023
12023
Seamless reaction strategy for bipedal locomotion exploiting real-time nonlinear model predictive control
JH Choe, JH Kim, S Hong, J Lee, HW Park
IEEE Robotics and Automation Letters, 1-8, 2023
12023
Real time humanoid footstep planning with foot angle difference consideration for cost-to-go heuristic
JH Kim, YH Shin, H Jeong, JH Oh, HW Park
2023 20th International Conference on Ubiquitous Robots (UR), 92-99, 2023
12023
Design of foothold decision model in convex model predictive control for legged robots
MG Kim, S Hong, JH Kim, HW Park
International Conference on Robot Intelligence Technology and Applications …, 2021
12021
DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators
TG Song, YH Shin, S Hong, HC Choi, JH Kim, HW Park
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022
2022
Real time A* adaptive action set footstep planning with human locomotion energy approximations considering angle difference for heuristic function
JH Kim
한국과학기술원, 2019
2019
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