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삼성반도체 인터뷰.jpg
광운대학교 재능기부 행사
2018 로봇캠프
삼성반도체 인터뷰.jpg
HI MY NAME IS INGU CHOI
MAIN: 환영
ABOUT ME
I'm robotics researcher Ingu Choi. Since high school, I have had a lot of interest and passion for robots. In college, I studied kids- and teen-sized humanoid robots, mobile robot, and 5-DOF mobile manipulator.
I studied at the robot research organization called Robit(Robot Sports Game Team at Kwangwoon university), and had an internship at KIST. I am studying for a master's degree in electrical engineering at Korea university. I am currently interested in robot manipulation, force control for physical interaction, and control system design.
MAIN: 자기소개
EDUCATION
Sep. 2020 ~
M.S
KOREA
UNIVERSITY,
SEOUL KOREA
Robot·System·Control, Department of Electrical Engineering
Mar. 2016 ~ Feb. 2020
B.S
KWANGWOON
UNIVERSITY,
SEOUL KOREA
Information Control, Division of Robotics
MAIN: 교육
SUMMARY
KIST(KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY), RESEARCH STUDENT AND MASTER STUDENT
Sep. 2020 ~
→ International Paper Accepted(IEEE ICRA), KSME Best Oral Presentation Award, KRoC RED Show Award
KIST(KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY), RESEARCH INTERN
Mar. 2020 ~ Aug.2020
Upper Controller Design of Bionic-Arm
→ International Paper Accepted(IEEE ACCESS), Domestic Papers Accepted(KSME)
KIST(KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY), UNDERGRADUATE RESEARCHER
Jul 2019 ~ Aug 2019
Control System Design of Robot Hand
→ International Paper Accepted(IEEE UR), Domestic Papers Accepted(KSME)
ROBIT(KWANGWOON UNIVERSITY ROBOT SPORTS GAME TEAM), UNDERGRADUATE RESEARCHER
June 2016 ~ Feb 2020
→ Robit Scholarship, 8 Awards(International & Domestic), KRoC Best Paper Award
C-RO(ICHEON HIGH SCHOOL ROBOT CLUB), PRESIDENT
March 2015 ~ February 2016
→ President, Project Manager, 2014 IRC Battle Robot Contest Quarterfinals
MAIN: 경험
HANDHELD MICRO-SURGERY ROBOT
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MAIN: Video Player
Project Name
Handheld Micro-Surgery 6-DOF Manipulator
Goal
Intelligent Handheld Micro-Surgery Robot for Removing Brain Tumor
Position
System Design & Integration
MCU based Real-time Controller - CAN(CANopen), RS232, USB protocol
PC(STEP PC) based Real-time Controller - EtherCAT, UDP, TCP/IP
Eletro-Magnetic Tracker, IMU Sensor - RS422, I2C, SPI protocol
Analog Data Acquisition Hardware Interface - F/T Sensor, Laser Sensor
PCB Hardware Integration
UI Design - MFC, QT
Control Algorithm
Force & Admittance Control
Hybrid Force & Position Control
Active Tremor Cancellation
Filtering
Low Pass Filter, Adaptive Filter, Kalman Filter
Deep Learning based Filter
Results
E. Kim, I. Choi, and S. Yang, “Design and Control of Fully Handheld Microsurgical Robot for Active Tremor Cancellation”, IEEE International Conference on Robotics and Automation (ICRA), 2021
C. Park, I. Choi, J. Roh, SY. Lim, SH. Kim, J. Lee, and S. Yang, "Evaluation of Applied Force During Nasopharyngeal Swab Sampling Using Handheld Sensorized Instrument", IEEE Engineering in Medicine and Biology Society (EMBC), 2021
I. Choi, E. Kim, and S. Yang, “Active Tremor Cancellation of Handheld Microsurgical Robots”, Korean Society of Mechanical Engineers (KSME) Spring, 2021, Best Oral Presentation Award
I. Choi, E. Kim, and S. Yang, “Handheld Robot for Robot-Assisted Microsurgery”, Korean Robot of Conference (KRoC) 2021, RED Show Award
D. Yoon, E. Kim, I. Choi, S. Han, and S. Yang, “Prediction of Voluntary Motion Using Decomposition-and-Ensemble Framework with Deep Neural Networks”, IEEE ACCESS, 2020
I. Choi, E. Kim, and S. Yang, “Real-time Control of 6-DOF Handheld Microsurgical Robot”, Korean Society of Mechanical Engineers (KSME) Fall, 2020
E. Kim, I. Choi, and S. Yang, “Design and Optimization of 6-DOF Handheld Micromanipulator”, Korean Society of Mechanical Engineers (KSME) Fall, 2020
E. Kim, I. Choi, and S. Yang, “Design and Analysis of a Handheld Micromanipulator for Robot-Assisted Microsurgery ”, Korean Society of Mechanical Engineers (KSME) Fall, 2019
More Information
MAIN: 텍스트
HAND-MANIPULATOR
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Project Name
Robot Hand Vision Project - Pick & Place, Visual Servoing
Goal
Pick & Place, Visual Servoing
Position
System Design & Integration
TCP/IP, UDP, and CAN Communication Integration
MCU Hardware & Firmware Integration
Strategy Design
Pick & Place
Visual Servoing
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5-DOF MOBILE MANIPULATOR
MAIN: 환영
Project Name
5-DOF Mobile Manipulator for Waste Sorting
Goal
Autonomous Waste Sorting for Cinema
Position
Project Manager
System Integration
ROS
Cortex M4 Firmware
Mechanical Design
Mobile Robot - Pully, Belt, Tensioner Mechanism
5-DOF Manipulator - 3D Printer, Spur Gear, Waste Seperation Mechanism
Electrical Design
DC Motor Velocity Control
Machining
Motion Planning
5-DOF Manipulator Inverse Kinematics
Generate Smooth Motion
Robotics Toolbox Modeling
Perception Algorithm
3D Position Estimation - RBG Camera, Laser Sensor
Results
I. Choi, J. Back, and S. Yang, “Waste Sorting Robot based on 5-DOF Mobile Manipulator”, Korea Robotics Society Annual Conference (KRoC), 2020, Best Undergraduate Student Paper Award
메이킹 UCC 전국민 콘테스트 - 나도 우리동네 메이커 2위
More Information
MAIN: 동영상
HUMANOID
ROBOT
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MAIN: Video Player
Project Name
Design and Control of Humanoid Robot
Goal
Autonomous Robot Soccer
Position
System Integration
ROS
Cortex M4 Firmware
Control
Walking Pattern Generation
Balance Control with IMU using PID Control
Results
2018 World Robocup Humanoid Soccer League Kids Size 3rd Prize, World Robocup Society, Canada
2017 World Robocup Humanoid Soccer League Teen Size 2nd Prize, World Robocup Society, Japan
2017 Iran Open Robocup Humanoid Soccer League Kids Size 4th Prize, Iran Robocup Society, Iran
2017 Korea Open Robocup Humanoid Soccer League Kids Size 1st Prize, Korea Robocup Society, Korea
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광운대 로봇게임단 '로빛', 2017 국제 로보컵 대회 2위 수상
광운대 로봇게임단 로빛, 세계 ‘로보컵 2018’ 3위
광운대 로빛(Roːbit), 국제 로보컵 대회 '2위'
국제 로보컵 이란대회 한국참가학생 격려
광운대 '로보컵 코리아' 휴머노이드 축구 우승
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MOBILE ROBOT
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Project Name
Turtlebot3 Autorace
Goal
Autonomous Mobile Robot
Position
Matlab, ROS, Gazebo Simulation Software System Design
Perception - HSV based Object Detection, Line Detection, Deep Learning based Feature Detection
Control - Autonomous Mobile Robot Control
Results
2018 R-BIZ Challenge Turtlebot3 Autorace(Matlab Special Part) 1st Prize, Korea Robot Society, Korea
2018 R-BIZ Challenge Turtlebot3 Autorace 1st Prize, Korea Robot Society, Korea
2017 Turtlebot3 Autorace 3rd, Korea Robot Society, Korea
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MAIN: 동영상
Project Name
Mobile Autonomous Battle Robot
Goal
Pushing the Enemy Robot
Position
Project Manager
System Integration
DC Motor
IR Sensor
PSD Sensor
More Information
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