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오용환 교수

Oh Yonghwan

INFO

  • 소속캠퍼스한국과학기술연구원 스쿨
  • 전공 나노-정보 융합
    (HCI 및 로봇공학)
  • 연락처02-958-5758
  • 출신전공기계공학
  • 학위박사
  • 최종출신대학포항공과대학교
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연구분야

여유자유도 로봇 제어, 파지-조작 제어, 휴머노이드

Redundant Manipulator, Grasping&Manipulation, Humanoid

대표연구실적

-  Contact Force Control of a Robotic Hand Using F/T Sensory Feedback with a Rigid Object, ICRA2012 -  COM Control of Dual Arm Robot using COM Jacobian, CASE 2012 -  Dependable Humanoid Navigation System Based on Bipedal Locomotion, IEEE TIE 2012

논문(최근 5년)

-  From Human Motion Analysis to Whole-Body Control of a Dual-Arm Robot for Pick-And-Place Tasks[IEEE International Conference on Intelligent Robots and Systems,2013-11-04] -  Grasping Force Control of a Robotic Hand based on a Torque-Velocity Transformation Using F/T Sensors with Gravity Compensation[Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008,2013-11-06] -  Real-Time Walking Pattern Generation Method for Humanoid Robots by Combining Feedback and Feedforward Controller[IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2014-01-15] -  Implementation of Real-Time Motion and Force Capturing System for Tele-manipulation based on sEMG Signals and IMU Motion Data[Proceedings - IEEE International Conference on Robotics and Automation,2014-05-01] -  Biologically Inspired Control Algorithm for an Unified Motion[Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN,2014-08-01] -  Joint Space Torque Controller Based on Time-Delay Control with Collision Detection[2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009,2014-09-01] -  Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis[2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS,2014-09-01] -  Development of an Underactuated Robotic Hand using Differential Gear Mechanism[2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014,2014-11-01] -  An approach toward Human-like Motion Control of a Dual Arm Robot for Picking Heavy Objects[2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010,2014-11-01] -  The Contact/Non-contact Thimble Haptic device[Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015,2015-03-01] -  Task space control considering passive muscle stiffness[INTELLIGENT SERVICE ROBOTICS,2015-04-01] -  Task-Space Torque Controller Based on Time-Delay Control[6th International Conference on Autonomic and Autonomous Systems, ICAS 2010,2015-05-01] -  An On-line Gravity Estimation Method using Inverse Gravity Regressorbfor Robot Manipulator Control[2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009,2015-10-01] -  A Novel Haptic device with High-force Display Capability and Wide[Proceedings - IEEE International Conference on Robotics and Automation,2016-05-01] -  A Study on the L1 Optimal PD Controller with Application[Proceedings - IEEE International Conference on Robotics and Automation,2016-05-01]

특허(최근 5년)

-  이족 보행 로봇의 보행 패턴 생성 시스템[2013-01-29] -  인간형 로봇의 보행 안정화 및 자세 제어 방법[2013-05-21] -  인간형 로봇의 보행 제어 방법[2014-05-27] -  고마찰 로봇 매니퓰레이터 제어 시스템[2014-02-25] -  로봇 핸드의 파지력 제어 시스템 및 방법[2013-10-23] -  볼-온-플레이트 시스템 균형 제어 장치 및 방법[2013-07-29] -  백래쉬와 제어 특성을 개선한 그리퍼[2014-10-20] -  차동기어를 이용한 부족 자유도의 로봇 손가락 모듈의 발명[2014-12-01] -  차동기어를 이용한 부족 자유도의 로봇 손가락 모듈의 발명[2014-11-25] -  손가락 관절의 회전각 계측 장치[2015-11-18] -  무게중심 제어를 통한 로봇의 자세 제어 시스템[2015-11-18] -  골무형 촉감 제시 장치[2016-07-22] -  관절 구조체 및 이를 구비한 로봇[2016-08-11]