Hyouk Ryeol Choi
Pohang University of Science and Technology
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Featured researches published by Hyouk Ryeol Choi.
international conference on robotics and automation | 1994
Hyouk Ryeol Choi; Wan Kyun Chung; Youngil Youm
In this paper, two points are addressed as for the stiffness control of redundant manipulators. The first is, through the joint stiffness analysis, a generalized stiffness model between the joint and taskspace stiffness. Differing from the previous stiffness model, this model shows the existence of the additional stiffness concerning the configuration change and force. The second is the joint stiffness control scheme of redundant manipulators based on the developed model, called orthogonal stiffness decomposition control. The effectiveness of the proposed model and control method is verified through simulations and experiments.<<ETX>>
Robotica | 1995
Hyouk Ryeol Choi; Wan Kyun Chung; Youngil Youm
This paper addresses a method of satisfactorily controlling the grasp of objects. Emphasis is placed on achieving the desired stiffness of a grasped object as accurately as possible, especially when the fingers have redundant joints. A model describing the relation between stiffness and force is derived. Based upon this model, a hierarchical control scheme of the grasp stiffness, called decentralized object stiffness control (DOSC) is proposed. DOSC is composed of a fingertip stiffness synthesis (FSS) algorithm and orthogonal stiffness decomposition control (OSDC). Employing the proposed FSS always achieves the desired grasp stiffness by solving the constrained least square problem. The computed fingertip stiffness is achieved by OSDC. It offers a feasible way of controlling the fingertip stiffness as well as maintaining the stability of the finger configuration by modulating the joint stiffness. The developed control method is implemented on a two-fingered planar robot hand one finger of which has a redundant joint. The effectiveness of the control method is confirmed experimentally.
Archive | 2007
Wan Kyun Chung; Hyouk Ryeol Choi; Sung Moo Ryu; Min Chul Kim; Ja Choon Koo
Journal of Korea Robotics Society | 2010
Joo-Young Chun; Byungjune Choi; Hansang Chae; Hyungpil Moon; Hyouk Ryeol Choi
Journal of Korea Robotics Society | 2017
Eun-Jeong Song; Young-Min Lee; Hyungpil Moon; Hyouk Ryeol Choi; Ja Choon Koo
IEEE Conference Proceedings | 2017
Jeongmin Jeon; Byung-jin Jung; Ja Choon Koo; Hyouk Ryeol Choi; Hyungpil Moon; Alvaro Pintado; Paul Oh
Journal of Korea Robotics Society | 2016
Sung-Joon Kim; Jae-Young Choi; Hyungpil Moon; Hyouk Ryeol Choi; Ja Choon Koo
한국고분자학회 학술대회 연구논문 초록집 | 2013
Baek-chul Kim; Do-Yeon Hwang; Han-jeong Cho; Seong-Gi Kim; Dong-Hyuk Lee; Nguyen Canh Toan; Hyouk Ryeol Choi; 구자춘
한국고분자학회 학술대회 연구논문 초록집 | 2013
구자춘; Do-Yeon Hwang; Baek-chul Kim; Han-jeong Cho; Uikyum Kim; Ji-youn Jung; Hyouk Ryeol Choi; Hyungpil Moon
Archive | 2011
Hyouk Ryeol Choi; 최혁렬; Ja Choon Koo; 구자춘; Hyung Pil Moon; 문형필; Byung June Choi; 최병준; Bum Soo Kim; 김범수; Won Suk You; 유원석