Biped Robot Design

I tried to make a biped robot. Before we make a hardware platform, we simulate what we want to make using a CAE program, ADAMS. Various behaviors were tested and got torque information of each joint. Then, we choose the best motor for this biped robot and design the biped robot with the selected motor. The hardware platform is not made yet.

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Robot Intelligence Development Environment (RIDE2)

This is RIDE 2 which can simulate robots in virtual world. I use Irrlicht, a graphics library and Bullet, a physics engine. RIDE2 will be composed with a simulator, an editor and a behavior generator. Currently, the editor is implemented. The others will be substantiated.

RIDE2 Simulator

RIDE2 Editor

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Vision Recognition using Backpropagation

I tried to participate in a contest which competes with others about the ability to find the shortest path in a maze. In the contest, attendant had to pass 5 points and to recognize traffic signals. To solve the problem, I suggested ideas in order to recognize traffic signals and to plan the shortest path via five points. The ideas were that I used Back-propagation to recognize traffic signals and to find the short cut to a goal, Genetic algorithm and A* algorithm were applied.

Backpropagation(BP) Training Program

Add Training Data and Test Trained BP with Sample Images

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Control Oil Pressure Actuators

[2001 ~ 2002] Control One and Two Axis Oil Pressure Actuators with DSP