B.S. Yonsei Univ 1977, Major: Mechanical Eng.
M.S. Yonsei Univ 1979, Major: Mechanical Eng.
Ph.D. U. of Calif. Berkeley 1985, Major: Mechanical Eng.
■ Whole-body motion for humanoid robot
People expect a humanoid robot to behave like human since the humanoid robot has structural similarities to human. But in reality, even imitating a simple motion of human is not so simple for the humanoid robot. A motion or task which humans do normally, such as walking, opening a door and moving something is a result of implementing several kinematic and dynamic tasks. A large number of DOF(Degrees of Freedom) of a humanoid robot is the source of the ability to carry out those tasks simultaneously but also the source of the complexity.
Our Whole-body Motion Control (WMC) research aims to give the position-controlled humanoid robot the ability of carrying out multiple tasks in real time. We deal with the problem in simpler kinematic level than dynamic level because we concern a position-controlled humanoid robot. But for the most important task related to the stability, the dynamic effect of the flexible elements between the robot and the environment is not ignorable. Therefore we use a sprung inverted pendulum model and the model parameters are identified through experiments. With the ZMP Regulation Controller, the stability of the robot is controlled through the Center of Mass (COM) tasks. The inverse kinematics solution satisfying the tasks in order of priority is obtained by using our own task-priority based inverse kinematics algorithm. And inequality constraints are considered in the inverse kinematic algorithm to prevent joints from crashing into the limit.
1979~1981 : Researcher - Korea Atomic Energy Research Institute
1985~1985 : Postdoctoral Researcher - U. of Calif. Berkeley
1996~1997 : Visiting Professor - U. of Texas, Austin
1985~Current : Professor - KAIST Mechanical Eng.
2006~Current : Robots policy consultant - Ministry of Commerce Industry and Energy
2010~Currnet : Member - The National Academy of Engineering of Korea
2010~Currnet : Distinguish Professor - KAIST
2013~2014 : Vice President of KAIST
* 학회 참가
3 썸네일 IEEE - Humanoids 2015 : Panel discussion of Prof. Oh|Humanoids rainbow Jan 14, 2016
News The 2015 IEEE-RAS International Conference on Humanoid Robots was held in Seoul on November 3-5, 2015. Prof. Oh discussed 'What happened at the DARPA Robotics Challenge? ' during a panel discussion. He also announced 'Control S-trategies for the Driving and Egress of a Utility with a Humano…
2 썸네일 IEEE - IROS 2015 : keynote speech of Prof.Oh|IROS rainbow Jan 13, 2016
News The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) was held in Hamburg on Sep. 29 - Oct. 1, 2015. Prof. Oh announced keynote speech, What We Learned from DARPA Robotics Challenge, at IROS-2015 on Tuesday Septe-mber 29. Description Prof. Ju…
1 썸네일 IEEE - ICRA 2012 : Plenary speech of Prof.Oh|ICRA rainbow Jun 02, 2012
News HUBO2+ at ICRA 2012 The 2012 IEEE/RSJ International Conference on Robotics and Automation (ICRA) is happening in Minnesota on May 14-18, 2012. Prof. Oh, who developed humanoid robot HUBO, announced plenary talk at St. Paul, Minnesota at ICRA 2012 from May 14-18. Description …
* 프로젝트 진행 상황
- Korea Evaluation Institute of Industrial Technology
Development of Source Technologies and Standard Platform Based on Humanoid Robot
- Agency for Defense Development
Development of Integrated Control System for Rescue Robot
- LIG Nex1
Development of Drive Motor and Encoder for Exploration and Identification