Korea Institute of Robot and Convergence

Design and experimental evaluation of a multi-winding gas-spring gravity compensation mechanism for high-torque sit-to-stand assistance

Conventional gravity compensators capable of handling large loads are often bulky and require hardware modifications for different payload ranges. This study presents a multi-winding gas-spring gravity compensation mechanism (MW-GCM) for high-torque sit-to-stand assistance and ev...

Enhancing Sim-to-Real Transfer for a High-Gear-Ratio Quadruped Robot via Extended Actuator Dynamics Identification

Reinforcement learning (RL) has become a powerful tool for quadrupedal locomotion, and a sim-to-real approach is widely adopted to avoid hardware damage during training. However, the “sim-to-real gap” remains a critical challenge, particularly for robots driven by high-gear-ratio...

Feasibility and Evaluation of Effective Morphological Feature Representation for Contactless Blood Pressure Estimation Using Remote Photoplethysmography

This study evaluates the feasibility of morphological feature-based contactless blood pressure (BP) estimation using remote photoplethysmography (rPPG). A total of 52 morphological features are extracted from each cardiac cycle of rPPG and its first and second derivatives and arr...