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Founder

KangZ Robotics

We are a company that develops and supplies control algorithm solutions tailored to the needs of various robots, providing everything from lower-level actuator control to higher-level task control.

• Control Solution, Actuator to Robot

Full-time Researcher

Korea Institue of Machinery and Materials(KIMM)

Participated in the development and control of a dual-arm robot, manipulator robot and a wheeled-bipedal robot as a full-time researcher

• Wheeled-leg Robot Jumping, Dual-arm Robot, Novel Actuator

Graduate Student Researcher(Advisor : Sehoon Oh)

Daegu Gyeongbuk Institue of Science and Technology(DGIST)

Proposed new control algorithms for achieving high-speed running with estimated ground reaction forces

• Locomotion Control

M.S in Robotics Engineering

Daegu Gyeongbuk Institue of Science and Technology(DGIST)

Legged Robot Control, Actuator Control

• Development and Control of High Driving-Force Quadruped Robot

Visiting Student

University of California, Berkeley

B.S in Engineering

Daegu Gyeongbuk Institue of Science and Technology(DGIST)

Robotics, Artificial Intelligence

Iterative Periodic Running Control through Swept Angle Adjustment with Modified SLIP Model

IEEE Robotics and Automation Letters

This paper presents a periodic running control strategy based on a modified Spring-Loaded Inverted Pendulum (SLIP) model to achieve stable running at various velocities. This model simplifies the analytical representation of the stance phase and defines the required swept angle for maintaining periodic motion during the flight phase. Using this model, we develop a feedback control system that ensures the stability of QLSLIP-based periodic locomotion, even in the presence of external disturbances.

Developing a Jumping Algorithm for Overcoming Obstacle in the Wheeled Bipedal Robot

Journal of the Korean Society of Manufacturing Technology Engineers

Using the dynamics of the SLIP model, the take-off velocity and leg length trajectories needed to achieve the desired height were determined. The robot's kinematics were then controlled to mimic the SLIP model, allowing it to track position and velocity trajectories and jump to the desired height.

Development of Rotating Workspace Ground Contact Force Observer for Legged Robot

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Two novel coordinate systems are introduced to describe the joint space motion and the workspace differently, and the ground contact force observer is designed in the novel coordinate systems.

Implementation of Integrated Dual SLIP Dynamics for Sagittal plane motion of Quadruped Robot

International Conference on Control, Automation and Systems (ICCAS)

A novel control algorithm is proposed to achieveSLIP dynamics by preventing the legs’ asymmetry SLIP behavior.

Transparent Torque Sensor-less Impedance Rendering for Low-cost Direct Drive Motor

2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)

proposes transparent sensor-less impedance control to improve impedance rendering performance for the low-cost DD motor. Torque ripple, the main problem, is measured and analyzed to develop the high-performance impedance controller.

Ripple Minimization for Harmonic-geared Series Elastic Actuator under Force Control

2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)

Develops an accurate force control algorithm an reduce the effect of torque ripple for the Series Elastic Actuators (SEA).

Wheeled-Leg Robot Development and Locomtion Control

Design Wheeled-leg robot with topology optimization and develop control algorithm for accurate jumping with maintaining stability

• Wheeled-leg robot locomotion
• Accurate jumping

Dual Arm Robot Development and Control

Developed a Dual Arm Robot and implemented robot control to grasp cups and pour water by integrating grippers

• Dual-arm robot
• Inverse kinematics control

Quadrupedal Robot high-speed running locomotion algorithm

Developed hopping and gait pattern generation algorithms for a quadruped robot

• Quadrupedal robot
• Running algorithm

Development of High-Speed Running Multi-Legged Robot Using Back-Driveable Actuator System

Designed a quadruped robot platform with a waist actuator and enhanced force control performance algorithm for Series Elastic Actuators

• Robot design
• Actuator control

Developing a variable exercise machine with the Tension Control Module

Developed a force control algorithm capable of adjusting load in response to user intent

• Force control
• Human robot interaction

Development of interworking modular exo-suit technology for strength support

Devised an auxiliary force control algorithm for enhancing the precision strength of SEA integrated into exosuits

• Impedance Control
• Actuator Ripple control

Full Scholarship

Daegu Gyeongbuk Institue of Science and Technology(DGIST)

Received national scholarship includes full tuition and stipend.'

DGIST Best Research Award

Daegu Gyeongbuk Institue of Science and Technology(DGIST)

Won Best Topic Research Award in Undergraduate Group Research Program (received 10 teams among 58 prgrams).'