Robotics
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KAIST’s RAIBO2 becomes the World’s First Robo-dog to Successfully Complete a Full-course Marathon
KAIST's quadrupedal walking robot "RAIBO", which can run seamlessly on sandy beaches, has now evolved into "RAIBO2"and achieved the groundbreaking milestone by becomeing the world's first quadrupedal robot to successfully complete a full-course marathon in an official event.
< Photo 1. A group photo of RAIBO2 and the team after completing the full-course marathon >
KAIST (President Kwang Hyung Lee) announced on the 17th of November that Professor Je Min Hwangbo's research team of the Department of Mechanical Engineering participated in the 22nd Sangju Dried-Persimmon Marathon and completed the full-course race (42.195 km) with a time of 4 hours 19 minutes and 52 seconds.
< Photo 2. RAIBO2 after completing the full-course marathon with its official record presented on the photo wall >
The Sangju Dried Persimmon Marathon is known for its challenging course featuring two 50 m elevation climbs, each at the 14 km and 28 km marks, making it defficult for amateur runners. This made it an especially demanding challenge for the walking robot, as unexpected losses in efficiency could occur.
< Photo 3. RAIBO2 with the completion medal around its neck >
To prepare RAIBO2, Professor Hwangbo's team developed a walking controller using reinforcement learning algorithms within their proprietary simulation environment "RaiSim". This simulator allowed the team to simlate diverse terrains such as slopes, stairs, and icy roads to ensure stable walking performance.
In particular, RAIBO2's high torque transparency joint mechanism enable the robot to efficiently harvest energy on the downhill slopes to regain some of the energy used in climbing up steep hill.
In addition, the stability of the robot was greatly improved through the collaboration with RAION ROBOTICS Inc., a company founded by the researchers from Professor Hwangbo’s lab.
< Figure 1. Conceptual diagram of power flow employed by the quadrupedal robot >
< Figure 2. The process of leg posture change of RAIBO2 walking at the most efficient walking speed of 3 m/s. By reducing the ground contact speed of the feet, the collision energy loss was reduced, and by minimizing the slipperiness of the foot upon contact, the body's kinetic energy was maintained towards the direction of the movement. >
Due to the nature of walking, pedal robots must employ highly complex systems that can withstand periodic vibrations from the frequent impacts that occur upon contact with the ground surface. Immediately after development, high efficiency was already recorded in short-distance experiments in the laboratory at the beginning of the year, but the manufacturing technology of RAION ROBOTICS significantly bolstered RAIBO's performance in running safely for a prolonged time of more than 4 hours among random pack of people in an actual marathon.
Compared to previous studies on improving walking efficiency, where external parts or software could not be changed and only limited improvements were made in some areas, Professor Hwangbo’s research team cited the fact that they were able to comprehensively solve problems by developing all steps and parts in-house, including mechanism design, electrical design, software, and artificial intelligence, as a key factor in improving efficiency.
Following the development of RAIBO1, the research team developed RAIBO2 and optimized all aspects of the robot. In particular, the team integrated the motor driver circuitry directly into the robot to minimize actuator losses and increase the control bandwidth, greatly improving walking efficiency and stability.
< Photo 4. RAIBO2 running the full-course marathon along human participants >
Choongin Lee, a Ph.D. Student that co-first author of the studies on RAIBO, said, “Through the marathon project, we demonstrated that RAIBO2 has the walking performance to stably execute services such as delivery and patrol in urban environments with many people and random objects,” and “In follow-up research, we will add autonomous navigation functions to RAIBO and strive to achieve the world’s best walking performance in mountainous and disaster environments.”
< Photo 5. RAIBO2 and co-first authors of the related research at the Ph.D. program of the Department of Mechanical Engineering at KAIST. (From left) Choongin Lee, Donghoon Youm, and Jeongsoo Park >
This research was conducted with the support of Samsung Electronics Future Technology Promotion Center and RAION ROBOTICS Inc.
2024.11.17 View 1131 -
KAIST’s Beach-Roaming Quadrupedal Robot “RAIBO” to Run a Marathon!
“RAIBO”, KAIST’s four-legged robot featuring remarkable agility even on challenging terrains like sandy beaches, is now set to be the first in the world to complete a full marathon.
< Photo 1. A group photo of the research team of Professor Je Min Hwangbo (second from the right in the front row) of the Department of Mechanical Engineering who participated in the marathon event at 2024 Geumsan Insam Festival last September >
On the 17th of November, KAIST (represented by President Kwang Hyung Lee) announced that Professor Je Min Hwangbo’s team from the Department of Mechanical Engineering has developed an upgraded version, “RAIBO2,” which will take on the full 42.195-kilometer course at the "Sangju Dried-Persimmon Marathon".
This is over double the previous maximum distance achieved by quadruped robots, which was limited to around 20 kilometers. The KAIST team has successfully developed a robot that can walk continuously for 43 kilometers on a single charge, completing the course in 4 hours and 40 minutes by following a GPS-guided path on the university’s main athletic field. Through this marathon, the team aims to demonstrate RAIBO2’s walking performance in an actual urban environment.
Previously, most measurements of walking robots’ travel distances were confined to controlled laboratory conditions or theoretical data. This marathon challenge is thus significant in that the robot will run alongside the general public in a real urban setting, marking the first attempt to validate the practical potential of four-legged robots in real environments.
Quadruped robots have shown advantages in challenging terrains, such as ice, sand, and mountainous areas, where they can walk stably. However, limited travel distance and running time have long been obstacles to wider applications.
< Figure 1. Conceptual diagram of power flow employed by the quadruped robot >
Professor Hwangbo’s team designed every component of the robot, from its actuators to its mechanical structure, to overcome these limitations. Notably, they implemented an efficient walking control system based on reinforcement learning using their proprietary dynamic simulator “RaiSim”.
The team also collected and analyzed walking data from outdoor environments, creating a model to address walking losses. This model was then used to iteratively improve walking efficiency over one full year.
< Figure 2. The leg posture change process of RAIBO2 walking at the most efficient walking speed of 3 m/s. By reducing the ground contact speed of the feet, the collision energy loss was reduced, and by minimizing the slipperiness of the foot upon contact, the body's kinetic energy was maintained towards the direction of the movement. >
This is the team’s second attempt. Their first was during the marathon event at “Geumsan Insam Festival” in September when the robot’s battery ran out at the 37-kilometer mark, falling short of completion. The battery drained 10 kilometers earlier than expected due to frequent speed changes as the robot adjusted to the pacing of other runners on the course.
Following the initial attempt, the team focused on technical improvements for a successful finish. They enhanced control efficiency by implementing joint stiffness control directly onto the motor actuator and increased battery capacity by 33% by refining the internal structure. These improvements enabled the robot to cover a maximum distance of 67 kilometers on straight paths.
< Figure 3. Data from completing 43 km on a single charge at the main sports field on campus. Left) GPS data of the driving course used during autonomous running. Middle) Covered distance by the hour. Right) Energy consumption by module >
Choongin Lee, a Ph.D. student of RAI Lab who is one of the co-first author of this study, explained, “Our comprehensive analysis of walking losses in terms of mechanics, electrical systems, and walking methods was crucial to improving walking efficiency. This research marks an important milestone in extending the operating range of quadruped robots to urban environments.”
< Photo 2. A Photo from Practice Run>
This research was supported by the Samsung Electronics Future Technology Development Center and RAION ROBOTICS Co., Ltd.
< Photo 3. A Photo from Practice Run >
2024.11.15 View 382 -
Team KAIST Crowned Champion for their World’s Best Ironman, Winning their 2nd Consecutive Win at the Cyborg Olympics
< Group photo of our research team participating in the 3rd Cybathlon >
The Cybathlon is an international competition, which aims to help overcome disabilities through the use of robotics technology. KAIST researchers came in third, winning the bronze medal, at their 1st participation in 2016, won their first gold medal at the 2nd competition in 2020, and took back the gold medal at this year’s 3rd competition, successfully defending their champion title.
KAIST (President Kwang-Hyung Lee) announced on the 28th of October that the wearable robot ‘WalkON Suit F1’ developed by the joint research team of KAIST EXO-Lab, Move Lab, and Angel Robotics, led by Professor Kyoungchul Kong of the Department of Mechanical Engineering (Chairman of Angel Robotics), won gold medal in Cybathlon 2024 held on the 27th.
< Seunghwan Kim, the Paraplegic Pilot of Team KAIST, cheering after completing all the missions >
Cybathlon is an international competition first held in Switzerland that challenges teams to develop assistive technologies with the purpose of overcoming disabilities, and is also called the Cyborg Olympics. Right after each competition, the missions for the next competition are announced, and research teams from around the world research and develop the right assistive technology for next four years to accomplish the given mission.
Aside from the Exoskeleton Race, competitions in a total of eight disciplines are held, including Arm Prosthesis Race, Leg Prosthesis Race, and Wheelchair Race. A total of 71 teams from 26 countries participated in the 3rd Cybathlon event. Professor Kyoungchul Kong’s research team participated in the Exoskeleton Race, the same discipline they took part in the previous competition.
The Exoskeleton Race is the highlight of the event that can be called the core of the Cybathlon. In the prosthetic arm or leg events, disabled athletes wearing traditional assistive devices instead of powered devices often win depending more on the ability of the athletes rather than the technology behind the tools.
However, the exoskeleton event requires individuals with paraplegic disability to walk completely dependent on the robotic device to perform various missions, so the technical difficulty and the dependence on robotics technology is high.
In fact, many teams gave up on participating after seeing the missions for this competition, and more than half of the research teams declared withdrawal during the developmental process. In the end, only six teams from Korea, Thailands, Switzerland, Germany, and the Netherlands participated in the actual competition. Even the research team from the Swiss headquarters declared forfeiture midway as the competition date drew nearer.
< Cybathlon 2024 – Exoskeleton Race Mission Description >
The reason why many teams gave up in the exoskeleton discipline was because the difficulty of the missions was unusually high. Most research teams have the skills to make paraplegic athletes walk, but there were many other difficult tasks, such as making them walk without crutches or using both hands, while standing free on both legs on the exoskeleton, to cut a lump of sponge block, as in imitating food preparing process.
The reason why the difficulty of the missions increased like this is because Professor Kong's research team completed all the missions given to them too quickly in the last competition. In fact, in the last competition, there was even a question asked whether Kim Byeong-Uk (paraplegic) wearing the WalkON Suit F1 was really disabled.
Professor Kong's research team developed WalkON Suit F1 to successfully complete the missions. The number of motorized joints increased from six to twelve, and the output of the motor itself was more than doubled compared to the previous model that ran in the competition back in 2020. The 6-channel ground reaction force sensor on the foot measured the robot's balance 1,000 times per second to maintain balance. Cameras were installed to detect obstacles, and an AI board for implementation of AI neural network was also installed.
On top of the technologies required to complete the competition missions, a function was implemented that allows the users to wear the robot by themselves and dock on to it right from their wheelchair. In the process, all parts were domestically produced and all basic technologies were internalized. The outer design of the robot was done by Professor Hyunjoon Park of KAIST, and the harmony between people and robots was pursued.
In the end, the results of the competition were as expected. The only team that could successfully perform all of the mission tasks, which were originally designed to challenge Professor Kong's research team, was Professor Kong's team. They successfully completed missions such as moving by sidesteps between narrow chairs, moving boxes, walking freely unassisted by crutches, passing through a narrow door and closing it behind, and working on food preparation in the kitchen, recording 6 minutes and 41 seconds to complete all six tasks.
The Swiss and Thai teams that took 2nd and 3rd places were all given 10 minutes, but only were able to perform two missions, each earning twenty points. It was an unevenly matched race to begin with. The Cybathlon broadcast team was more surprised and interested in the performance of WalkON Suit F1 than in result of the race.
< Team KAIST’s Paraplegic Pilot Seunghwan Kim (left), and Professor Kyoungchul Kong (right) >
Researcher Jeongsu Park, the captain of Team KAIST, said, “We came into this competition thinking of it as a competition against ourselves to begin with and focused on showing the technological gap. Now, we are very happy and proud that our endeavors achieved such good result as well.” He added, “We plan to continue to showcase various functions of the WalkON Suit F1 that have not yet been publicly introduced.”
Researcher Seunghwan Kim, the paraplegic athlete of the team, said, “I am so touched that I was able to introduce the world’s best wearable robot technology of Korea with my own body.”
On a different note, Professor Kong’s research team has successfully commercialized wearable robots through Angel Robotics Co., Ltd. since the 2020 competition. In 2022, they began distributing “ANGEL LEGS M20,” the first wearable robot to be covered by health insurance, and as a result, Angel Robotics Co., Ltd. was successfully listed on KOSDAQ this March.
The various know-how and core technologies accumulated while preparing for this competition is to contribute to further development and propagation of wearable robots, provoking imagination to draw on the future of wearable robots and on how it may change our daily lives.
Final Match (Self-filmed): https://youtu.be/3ASAtvkiOhw
Final Match and Interview (Official Video): https://youtu.be/FSfxOTpDjSE
Final Match and Interview (Summary): https://youtu.be/Sb_vd5-3f_0
2024.10.28 View 1705 -
KAIST Introduces a Wearable Robot that Walks and Puts itself on to Disabled Persons
< Photo 1. WalkON Suit F1 - walking demonstration >
KAIST researchers have unveiled a new wearable robot developed for completely paralyzed persons that can walk to them so that the user can wear it right out of their wheelchairs without the help from others. Also, it was announced that Professor Kyoungchul Kong's team from KAIST will be participating in the wearable robot category of the 3rd Cybathlon, which is being held four years after the team’s gold medal win in 2020.
KAIST (President Kwang-Hyung Lee) announced this new version of the wearable robot for paraplegic people, WalkON Suit F1, by Professor Kyoungchul Kong (CEO and founder of Angel Robotics) of KAIST Department of Mechanical Engineering on the 24th of October.
< Photo 2. (From left) Professor Kyoungchul Kong of the Department of Mechanical Engineering, Researcher Seunghwan Kim (the competing athlete), and PhD candidate Jeongsu Park (the leader of Team KAIST) >
WalkON Suit is a wearable robot for people suffering with paraplegic disabilities that the research team has been continuously researching since 2015. This robot targets to assist persons with American Spinal Injury Association (ASIA) Impairment Scale – A (complete paralysis) grade injury, the most severe level of paraplegia. Therefore, its development purpose is different from that of other rehabilitation therapy and muscle strength assisting robots currently being supplied nationally by Angel Robotics.
Professor Kong's research team first announced WalkON Suit 1 in 2016, and then introduced WalkON Suit 4 in 2020, increasing the walking speed to 3.2 km/h, achieving the normal walking speed of people with no disabilities. In addition, it demonstrated the ability to pass through obstacles such as narrow passages, doors, and stairs that can be encountered in daily life.
However, it had the same fundamental problem all wearable robots have, which is that they require the help of others to wear the robot. While you can walk without help from others once you are wearing the robot, you needed someone's help to put it on to begin with.
The newly released WalkON Suit F1 presented a technical solution to this fundamental problem. It applied a frontal-docking method instead of a rear-sitting method so that you can wear the robot right away without getting out of the wheelchair and into the robot, which would require help from others mid-transition.
< Photo 3. WalkON Suit F1 - suiting-up demonstration >
In addition, before wearing the robot, it can walk on its own like a humanoid robot and approaches the user. It is also implemented a function that actively controls the center of its weight against the pull of gravity so that it maintains balance without falling over even if the user pushes the robot otherwise. The outer design of the WalkON Suit F1, which crosses between a humanoid and a wearable robot, was done by Professor Hyunjoon Park of the Department of Industrial Design at KAIST.
The original function of the wearable robot has also been greatly improved. The performance of the balance control was improved to allow the free use of both hands in upright state, as well as the freedom to take several steps without a cane.
Technological advancements at the components level are also noteworthy. Through close collaboration with Angel Robotics, all core components of the robot, such as the motor, reducer, motor driver, and main circuit, have been domestically produced. The output density of the motor and reducer modules has been improved by about two folds (based on power per weight) compared to the research team's existing technology, and the control performance of the motor driver has been improved by about three times (based on frequency response speed) compared to the best overseas technology.
In particular, the embedded software technology of the motor driver has been significantly improved so that advanced motion control algorithms can be stably implemented without using expensive higher-level controllers. In addition, visual recognition system for obstacle detection and an AI board for neural network application have been installed.
< Figure 1. WalkON Suit F1 shape and main specifications >
Professor Kong explained, “WalkON Suit is the culmination of wearable robot technology for the disabled,” and added, “The numerous components, control, and module technologies derived from WalkON Suit are setting the standard for the entire wearable robot industry.”
Professor Kong’s research team revealed WalkON Suit F1 and announced that they will be participating in the 3rd Cybathlon, which is being held after four years since the last event. In this competition, which will be held on October 27, Professor Kong’s lab, the Exo Lab will be participating with Jeongsu Park, a Ph.D. Student, as the leader and Seunghwan Kim, the lab’s staff researcher with complete paralysis, as the competing athlete.
The difficulty of the missions in this competition has been significantly increased compared to the previous competition, and the number of missions has increased from six to ten. Some missions have been criticized for being overly challenging, going beyond the level that can be encountered in everyday life.
< Photo 4. Cybathlon stadium (Angel Robotics Asia Hub) >
Regarding this, the team leader Jeongsu Park expressed his ambition, saying, “Since we already won first place in the previous competition, our goal in this competition is to show the technological gap rather than competing for rankings.”
The Cybathlon is a cyborg Olympics held every four years in Switzerland. This competition will be held in a hybrid format, with some participants taking part in Switzerland while others broadcasting live from stadiums in their own country on October 27. Professor Kong's research team will be participating via live broadcast from the competition facilities installed in Angel Robotics' Advanced Research Institute (Planet Daejeon).
< Photo 5. Photo of Team KAIST participating in Cybathlon 2024 >
The demonstration video of WalkON Suit F1 can be viewed through the link below.
Link: https://www.youtube.com/@KyoungchulKong_EXO-Lab
2024.10.24 View 3199 -
The 3rd Global Entrepreneurship Summer School (GESS 2024) Successfully Completed in Silicon Valley
The 2024 Global Entrepreneurship Summer School (2024 KAIST GESS), hosted by the Office of Global Initiatives under the KAIST International Office (Director Man-Sung Yim), was held for the third time. This program allows students to visit Silicon Valley, a global startup hub, to directly experience its famous startup ecosystem and develop their capabilities for global expansion. A total of 20 students were selected through applications, interviews, final presentations, mentoring, and peer evaluations. Additionally, 17 students from the KAIST Impact MBA course at the KAIST Business School also participated.
Before starting the Silicon Valley program, participants received mentoring on business model development and pitching advice from a senior entrepreneur at KAIST for about two months, beginning last May. Afterward, they developed business items for each team at KAIST’s main campus in Daejeon. For seven days, starting from June 23rd, workshops were held under the themes of global entrepreneurship, learning through failure, capital and network, and startup culture at KOTRA Silicon Valley Trade Center, JP Morgan, and Plug and Play Tech Center. This program's lecture series provided prospective entrepreneurs with the opportunity to systematically learn the mindset and gain the experience needed to start a global business.
The participants also visited local companies and gained experience in the field of global technology startups. Visits included Bear Robotics (CEO John Ha), Soundable Health (CEO Cathering Song), ImpriMed (CEO Sungwon Lim), Phantom AI (CEO Hyunggi Cho), B Garage (CEO Aiden Kim), and Simple Steps (CEO Doyeon Kim). Lectures contained vivid experiences from Silicon Valley CEOs and company tours boosted the students' passion for entrepreneurship. In particular, Doyeon Kim, CEO of Simple Steps, which helps prevent career breaks for Korean female immigrants in Silicon Valley and allows talented female immigrants to demonstrate their abilities in society, said, “As a KAIST alumna entrepreneur, it was meaningful to share my experience with this generation of students who dream of starting a global business and creating social enterprises in the United States.”
This program also included a tour of Silicon Valley's big tech companies that have made a significant impact on the digital ecosystem through technological advancement and innovation. This included Broadcom, which maintains a strong global presence in the semiconductor and infrastructure software technology fields. At the invitation of Chairman Hock Tan, GESS participants had the opportunity to attend his lecture and ask questions. Chairman Tan, who received an honorary doctorate in engineering from KAIST last February, emphasized that experiencing failure and giving consistent effort over a long period of time are more important than anything else in order to grow as a global entrepreneur, and that technologies influencing the global market evolve over generations.
< Photo. Group photo of GESS 2024 participants at Broadcom with Chairman Hock Tan (center) ⓒBroadcom>
As part of this program, participants conducted a volunteer program called 'Let's play with AI+ Tech' with the Sunnyvale community in Silicon Valley and Foothill College to help grow together with the community. Through this program, GESS participants cultivated the virtues of a global leader. In this volunteer activity, low-income elementary school students and parents from the Sunnyvale community participated in chatbot training led by KAIST students, providing an opportunity to work with underprivileged groups in the local community.
In the final pitching event, the highlight of the program, local venture investors from Silicon Valley were invited as judges and evaluated the pitches for each team's business items. The participating students, who developed their own business models while receiving advice through face-to-face mentoring from a professional accelerator in Silicon Valley, showcased their creative and innovative ideas, presenting themselves as future global entrepreneurs. Merey Makhmutova (BS in Civil and Environmental Engineering) from the K-Bridge team, who won the final pitch, expressed her ambition: “Even before GESS pitch day, our team kept refining the pitch deck as we attended the lectures and benefitted from the mentoring. Our intense teamwork was a significant reason why we ultimately won first prize.” She added that K-Bridge aims to win an award at the upcoming UKC Pitching Competition and expressed her gratitude for being able to participate in this program. Arseniy Kan (BS in Electrical Engineering) from the KAIST Enablers team, who took second place, said, “The 2024 KAIST GESS Program became the most unforgettable and precious opportunity of my lifetime, and I dream of using this opportunity as a stepping stone to becoming a global entrepreneur.“ Additionally, Kangster (CEO Kang Kim), who won the Impact MBA final pitching session, had the opportunity to secure a meeting with a local investment company after their GESS final pitch.
The 2024 KAIST GESS was held in cooperation with the KAIST International Office, the KAIST College of Business, and Startup KAIST. Director Man-Sung Yim from the Office of Global Initiatives, who hosted the event, said, “KAIST students will grow into leaders with global influence and contribute to the international community by creating global value. At the same time, we hope to raise the international status of our university.” Professor Sangchan Park, who led the 17 Impact MBA students in this educational program, added, “Meeting with companies leading the global market and visiting Silicon Valley has been a valuable learning experience for students aiming to start a global startup.”
KAIST plans to continue promoting its global entrepreneurship education program by enriching its curriculum each year and helping students grow into entrepreneurs with the virtues of global leaders.
2024.07.03 View 3177 -
Team KAIST placed among top two at MBZIRC Maritime Grand Challenge
Representing Korean Robotics at Sea: KAIST’s 26-month strife rewarded
Team KAIST placed among top two at MBZIRC Maritime Grand Challenge
- Team KAIST, composed of students from the labs of Professor Jinwhan Kim of the Department of Mechanical Engineering and Professor Hyunchul Shim of the School of Electrical and Engineering, came through the challenge as the first runner-up winning the prize money totaling up to $650,000 (KRW 860 million).
- Successfully led the autonomous collaboration of unmanned aerial and maritime vehicles using cutting-edge robotics and AI technology through to the final round of the competition held in Abu Dhabi from January 10 to February 6, 2024.
KAIST (President Kwang-Hyung Lee), reported on the 8th that Team KAIST, led by students from the labs of Professor Jinwhan Kim of the Department of Mechanical Engineering and Professor Hyunchul Shim of the School of Electrical Engineering, with Pablo Aviation as a partner, won a total prize money of $650,000 (KRW 860 million) at the Maritime Grand Challenge by the Mohamed Bin Zayed International Robotics Challenge (MBZIRC), finishing first runner-up.
This competition, which is the largest ever robotics competition held over water, is sponsored by the government of the United Arab Emirates and organized by ASPIRE, an organization under the Abu Dhabi Ministry of Science, with a total prize money of $3 million.
In the competition, which started at the end of 2021, 52 teams from around the world participated and five teams were selected to go on to the finals in February 2023 after going through the first and second stages of screening. The final round was held from January 10 to February 6, 2024, using actual unmanned ships and drones in a secluded sea area of 10 km2 off the coast of Abu Dhabi, the capital of the United Arab Emirates. A total of 18 KAIST students and Professor Jinwhan Kim and Professor Hyunchul Shim took part in this competition at the location at Abu Dhabi.
Team KAIST will receive $500,000 in prize money for taking second place in the final, and the team’s prize money totals up to $650,000 including $150,000 that was as special midterm award for finalists.
The final mission scenario is to find the target vessel on the run carrying illegal cargoes among many ships moving within the GPS-disabled marine surface, and inspect the deck for two different types of stolen cargo to recover them using the aerial vehicle to bring the small cargo and the robot manipulator topped on an unmanned ship to retrieve the larger one. The true aim of the mission is to complete it through autonomous collaboration of the unmanned ship and the aerial vehicle without human intervention throughout the entire mission process. In particular, since GPS cannot be used in this competition due to regulations, Professor Jinwhan Kim's research team developed autonomous operation techniques for unmanned ships, including searching and navigating methods using maritime radar, and Professor Hyunchul Shim's research team developed video-based navigation and a technology to combine a small autonomous robot with a drone.
The final mission is to retrieve cargo on board a ship fleeing at sea through autonomous collaboration between unmanned ships and unmanned aerial vehicles without human intervention. The overall mission consists the first stage of conducting the inspection to find the target ship among several ships moving at sea and the second stage of conducting the intervention mission to retrieve the cargoes on the deck of the ship. Each team was given a total of three opportunities, and the team that completed the highest-level mission in the shortest time during the three attempts received the highest score.
In the first attempt, KAIST was the only team to succeed in the first stage search mission, but the competition began in earnest as the Croatian team also completed the first stage mission in the second attempt. As the competition schedule was delayed due to strong winds and high waves that continued for several days, the organizers decided to hold the finals with the three teams, including the Team KAIST and the team from Croatia’s the University of Zagreb, which completed the first stage of the mission, and Team Fly-Eagle, a team of researcher from China and UAE that partially completed the first stage. The three teams were given the chance to proceed to the finals and try for the third attempt, and in the final competition, the Croatian team won, KAIST took the second place, and the combined team of UAE-China combined team took the third place. The final prize to be given for the winning team is set at $2 million with $500,000 for the runner-up team, and $250,000 for the third-place.
Professor Jinwhan Kim of the Department of Mechanical Engineering, who served as the advisor for Team KAIST, said, “I would like to express my gratitude and congratulations to the students who put in a huge academic and physical efforts in preparing for the competition over the past two years. I feel rewarded because, regardless of the results, every bit of efforts put into this up to this point will become the base of their confidence and a valuable asset in their growth into a great researcher.” Sol Han, a doctoral student in mechanical engineering who served as the team leader, said, “I am disappointed of how narrowly we missed out on winning at the end, but I am satisfied with the significance of the output we’ve got and I am grateful to the team members who worked hard together for that.”
HD Hyundai, Rainbow Robotics, Avikus, and FIMS also participated as sponsors for Team KAIST's campaign.
2024.02.09 View 6460 -
Professor Joseph J. Lim of KAIST receives the Best System Paper Award from RSS 2023, First in Korea
- Professor Joseph J. Lim from the Kim Jaechul Graduate School of AI at KAIST and his team receive an award for the most outstanding paper in the implementation of robot systems.
- Professor Lim works on AI-based perception, reasoning, and sequential decision-making to develop systems capable of intelligent decision-making, including robot learning
< Photo 1. RSS2023 Best System Paper Award Presentation >
The team of Professor Joseph J. Lim from the Kim Jaechul Graduate School of AI at KAIST has been honored with the 'Best System Paper Award' at "Robotics: Science and Systems (RSS) 2023".
The RSS conference is globally recognized as a leading event for showcasing the latest discoveries and advancements in the field of robotics. It is a venue where the greatest minds in robotics engineering and robot learning come together to share their research breakthroughs. The RSS Best System Paper Award is a prestigious honor granted to a paper that excels in presenting real-world robot system implementation and experimental results.
< Photo 2. Professor Joseph J. Lim of Kim Jaechul Graduate School of AI at KAIST >
The team led by Professor Lim, including two Master's students and an alumnus (soon to be appointed at Yonsei University), received the prestigious RSS Best System Paper Award, making it the first-ever achievement for a Korean and for a domestic institution.
< Photo 3. Certificate of the Best System Paper Award presented at RSS 2023 >
This award is especially meaningful considering the broader challenges in the field. Although recent progress in artificial intelligence and deep learning algorithms has resulted in numerous breakthroughs in robotics, most of these achievements have been confined to relatively simple and short tasks, like walking or pick-and-place. Moreover, tasks are typically performed in simulated environments rather than dealing with more complex, long-horizon real-world tasks such as factory operations or household chores. These limitations primarily stem from the considerable challenge of acquiring data required to develop and validate learning-based AI techniques, particularly in real-world complex tasks.
In light of these challenges, this paper introduced a benchmark that employs 3D printing to simplify the reproduction of furniture assembly tasks in real-world environments. Furthermore, it proposed a standard benchmark for the development and comparison of algorithms for complex and long-horizon tasks, supported by teleoperation data. Ultimately, the paper suggests a new research direction of addressing complex and long-horizon tasks and encourages diverse advancements in research by facilitating reproducible experiments in real-world environments.
Professor Lim underscored the growing potential for integrating robots into daily life, driven by an aging population and an increase in single-person households. As robots become part of everyday life, testing their performance in real-world scenarios becomes increasingly crucial. He hoped this research would serve as a cornerstone for future studies in this field.
The Master's students, Minho Heo and Doohyun Lee, from the Kim Jaechul Graduate School of AI at KAIST, also shared their aspirations to become global researchers in the domain of robot learning. Meanwhile, the alumnus of Professor Lim's research lab, Dr. Youngwoon Lee, is set to be appointed to the Graduate School of AI at Yonsei University and will continue pursuing research in robot learning.
Paper title: Furniture Bench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation. Robotics: Science and Systems.
< Image. Conceptual Summary of the 3D Printing Technology >
2023.07.31 View 5354 -
KAIST debuts “DreamWaQer” - a quadrupedal robot that can walk in the dark
- The team led by Professor Hyun Myung of the School of Electrical Engineering developed “DreamWaQ”, a deep reinforcement learning-based walking robot control technology that can walk in an atypical environment without visual and/or tactile information
- Utilization of “DreamWaQ” technology can enable mass production of various types of “DreamWaQers”
- Expected to be used in exploration of atypical environment involving unique circumstances such as disasters by fire.
A team of Korean engineering researchers has developed a quadrupedal robot technology that can climb up and down the steps and moves without falling over in uneven environments such as tree roots without the help of visual or tactile sensors even in disastrous situations in which visual confirmation is impeded due to darkness or thick smoke from the flames.
KAIST (President Kwang Hyung Lee) announced on the 29th of March that Professor Hyun Myung's research team at the Urban Robotics Lab in the School of Electrical Engineering developed a walking robot control technology that enables robust 'blind locomotion' in various atypical environments.
< (From left) Prof. Hyun Myung, Doctoral Candidates I Made Aswin Nahrendra, Byeongho Yu, and Minho Oh. In the foreground is the DreamWaQer, a quadrupedal robot equipped with DreamWaQ technology. >
The KAIST research team developed "DreamWaQ" technology, which was named so as it enables walking robots to move about even in the dark, just as a person can walk without visual help fresh out of bed and going to the bathroom in the dark. With this technology installed atop any legged robots, it will be possible to create various types of "DreamWaQers".
Existing walking robot controllers are based on kinematics and/or dynamics models. This is expressed as a model-based control method. In particular, on atypical environments like the open, uneven fields, it is necessary to obtain the feature information of the terrain more quickly in order to maintain stability as it walks. However, it has been shown to depend heavily on the cognitive ability to survey the surrounding environment.
In contrast, the controller developed by Professor Hyun Myung's research team based on deep reinforcement learning (RL) methods can quickly calculate appropriate control commands for each motor of the walking robot through data of various environments obtained from the simulator. Whereas the existing controllers that learned from simulations required a separate re-orchestration to make it work with an actual robot, this controller developed by the research team is expected to be easily applied to various walking robots because it does not require an additional tuning process.
DreamWaQ, the controller developed by the research team, is largely composed of a context estimation network that estimates the ground and robot information and a policy network that computes control commands. The context-aided estimator network estimates the ground information implicitly and the robot’s status explicitly through inertial information and joint information. This information is fed into the policy network to be used to generate optimal control commands. Both networks are learned together in the simulation.
While the context-aided estimator network is learned through supervised learning, the policy network is learned through an actor-critic architecture, a deep RL methodology. The actor network can only implicitly infer surrounding terrain information. In the simulation, the surrounding terrain information is known, and the critic, or the value network, that has the exact terrain information evaluates the policy of the actor network.
This whole learning process takes only about an hour in a GPU-enabled PC, and the actual robot is equipped with only the network of learned actors. Without looking at the surrounding terrain, it goes through the process of imagining which environment is similar to one of the various environments learned in the simulation using only the inertial sensor (IMU) inside the robot and the measurement of joint angles. If it suddenly encounters an offset, such as a staircase, it will not know until its foot touches the step, but it will quickly draw up terrain information the moment its foot touches the surface. Then the control command suitable for the estimated terrain information is transmitted to each motor, enabling rapidly adapted walking.
The DreamWaQer robot walked not only in the laboratory environment, but also in an outdoor environment around the campus with many curbs and speed bumps, and over a field with many tree roots and gravel, demonstrating its abilities by overcoming a staircase with a difference of a height that is two-thirds of its body. In addition, regardless of the environment, the research team confirmed that it was capable of stable walking ranging from a slow speed of 0.3 m/s to a rather fast speed of 1.0 m/s.
The results of this study were produced by a student in doctorate course, I Made Aswin Nahrendra, as the first author, and his colleague Byeongho Yu as a co-author. It has been accepted to be presented at the upcoming IEEE International Conference on Robotics and Automation (ICRA) scheduled to be held in London at the end of May. (Paper title: DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning)
The videos of the walking robot DreamWaQer equipped with the developed DreamWaQ can be found at the address below.
Main Introduction: https://youtu.be/JC1_bnTxPiQ Experiment Sketches: https://youtu.be/mhUUZVbeDA0
Meanwhile, this research was carried out with the support from the Robot Industry Core Technology Development Program of the Ministry of Trade, Industry and Energy (MOTIE). (Task title: Development of Mobile Intelligence SW for Autonomous Navigation of Legged Robots in Dynamic and Atypical Environments for Real Application)
< Figure 1. Overview of DreamWaQ, a controller developed by this research team. This network consists of an estimator network that learns implicit and explicit estimates together, a policy network that acts as a controller, and a value network that provides guides to the policies during training. When implemented in a real robot, only the estimator and policy network are used. Both networks run in less than 1 ms on the robot's on-board computer. >
< Figure 2. Since the estimator can implicitly estimate the ground information as the foot touches the surface, it is possible to adapt quickly to rapidly changing ground conditions. >
< Figure 3. Results showing that even a small walking robot was able to overcome steps with height differences of about 20cm. >
2023.05.18 View 6573 -
KAIST to showcase a pack of KAIST Start-ups at CES 2023
- KAIST is to run an Exclusive Booth at the Venetian Expo (Hall G) in Eureka Park, at CES 2023, to be held in Las Vegas from Thursday, January 5th through Sunday, the 8th.
- Twelve businesses recently put together by KAIST faculty, alumni, and the start-ups given legal usage of KAIST technologies will be showcased.
- Out of the participating start-ups, the products by Fluiz and Hills Robotics were selected as the “CES Innovation Award 2023 Honoree”, scoring top in their respective categories.
On January 3, KAIST announced that there will be a KAIST booth at Consumer Electronics Show (CES) 2023, the most influential tech event in the world, to be held in Las Vegas from January 3 to 8.
At this exclusive corner, KAIST will introduce the technologies of KAIST start-ups over the exhibition period.
KAIST first started holding its exclusive booth in CES 2019 with five start-up businesses, following up at CES 2020 with 12 start-ups and at CES 2022 with 10 start-ups. At CES 2023, which would be KAIST’s fourth conference, KAIST will be accompanying 12 businesses including start-ups by the faculty members, alumni, and technology transfer companies that just began their businesses with technologies from their research findings that stands a head above others.
To maximize the publicity opportunity, KAIST will support each company’s marketing strategies through cooperation with the Korea International Trade Association (KITA), and provide an opportunity for the school and each startup to create global identity and exhibit the excellence of their technologies at the convention.
The following companies will be at the KAIST Booth in Eureka Park:
The twelve startups mentioned above aim to achieve global technology commecialization in their respective fields of expertise spanning from eXtended Reality (XR) and gaming, to AI and robotics, vehicle and transport, mobile platform, smart city, autonomous driving, healthcare, internet of thing (IoT), through joint research and development, technology transfer and investment attraction from world’s leading institutions and enterprises.
In particular, Fluiz and Hills Robotics won the CES Innovation Award as 2023 Honorees and is expected to attain greater achievements in the future.
A staff member from the KAIST Institute of Technology Value Creation said, “The KAIST Showcase for CES 2023 has prepared a new pitching space for each of the companies for their own IR efforts, and we hope that KAIST startups will actively and effectively market their products and technologies while they are at the convention. We hope it will help them utilize their time here to establish their name in presence here which will eventually serve as a good foothold for them and their predecessors to further global commercialization goals.”
2023.01.04 View 9722 -
A Quick but Clingy Creepy-Crawler that will MARVEL You
Engineered by KAIST Mechanics, a quadrupedal robot climbs steel walls and crawls across metal ceilings at the fastest speed that the world has ever seen.
< Photo 1. (From left) KAIST ME Prof. Hae-Won Park, Ph.D. Student Yong Um, Ph.D. Student Seungwoo Hong >
- Professor Hae-Won Park's team at the Department of Mechanical Engineering developed a quadrupedal robot that can move at a high speed on ferrous walls and ceilings.
- It is expected to make a wide variety of contributions as it is to be used to conduct inspections and repairs of large steel structures such as ships, bridges, and transmission towers, offering an alternative to dangerous or risky activities required in hazardous environments while maintaining productivity and efficiency through automation and unmanning of such operations.
- The study was published as the cover paper of the December issue of Science Robotics.
KAIST (President Kwang Hyung Lee) announced on the 26th that a research team led by Professor Hae-Won Park of the Department of Mechanical Engineering developed a quadrupedal walking robot that can move at high speed on steel walls and ceilings named M.A.R.V.E.L. - rightly so as it is a Magnetically Adhesive Robot for Versatile and Expeditious Locomotion as described in their paper, “Agile and Versatile Climbing on Ferromagnetic Surfaces with a Quadrupedal Robot.” (DOI: 10.1126/scirobotics.add1017)
To make this happen, Professor Park's research team developed a foot pad that can quickly turn the magnetic adhesive force on and off while retaining high adhesive force even on an uneven surface through the use of the Electro-Permanent Magnet (EPM), a device that can magnetize and demagnetize an electromagnet with little power, and the Magneto-Rheological Elastomer (MRE), an elastic material made by mixing a magnetic response factor, such as iron powder, with an elastic material, such as rubber, which they mounted on a small quadrupedal robot they made in-house, at their own laboratory. These walking robots are expected to be put into a wide variety of usage, including being programmed to perform inspections, repairs, and maintenance tasks on large structures made of steel, such as ships, bridges, transmission towers, large storage areas, and construction sites.
This study, in which Seungwoo Hong and Yong Um of the Department of Mechanical Engineering participated as co-first authors, was published as the cover paper in the December issue of Science Robotics.
< Image on the Cover of 2022 December issue of Science Robotics >
Existing wall-climbing robots use wheels or endless tracks, so their mobility is limited on surfaces with steps or irregularities. On the other hand, walking robots for climbing can expect improved mobility in obstacle terrain, but have disadvantages in that they have significantly slower moving speeds or cannot perform various movements.
In order to enable fast movement of the walking robot, the sole of the foot must have strong adhesion force and be able to control the adhesion to quickly switch from sticking to the surface or to be off of it. In addition, it is necessary to maintain the adhesion force even on a rough or uneven surface.
To solve this problem, the research team used the EPM and MRE for the first time in designing the soles of walking robots. An EPM is a magnet that can turn on and off the electromagnetic force with a short current pulse. Unlike general electromagnets, it has the advantage that it does not require energy to maintain the magnetic force. The research team proposed a new EPM with a rectangular structure arrangement, enabling faster switching while significantly lowering the voltage required for switching compared to existing electromagnets.
In addition, the research team was able to increase the frictional force without significantly reducing the magnetic force of the sole by covering the sole with an MRE. The proposed sole weighs only 169 g, but provides a vertical gripping force of about *535 Newtons (N) and a frictional force of 445 N, which is sufficient gripping force for a quadrupedal robot weighing 8 kg.
* 535 N converted to kg is 54.5 kg, and 445 N is 45.4 kg. In other words, even if an external force of up to 54.5 kg in the vertical direction and up to 45.4 kg in the horizontal direction is applied (or even if a corresponding weight is hung), the sole of the foot does not come off the steel plate.
MARVEL climbed up a vertical wall at high speed at a speed of 70 cm per second, and was able to walk while hanging upside down from the ceiling at a maximum speed of 50 cm per second. This is the world's fastest speed for a walking climbing robot. In addition, the research team demonstrated that the robot can climb at a speed of up to 35 cm even on a surface that is painted, dirty with dust and the rust-tainted surfaces of water tanks, proving the robot's performance in a real environment. It was experimentally demonstrated that the robot not only exhibited high speed, but also can switch from floor to wall and from wall to ceiling, and overcome 5-cm high obstacles protruding from walls without difficulty.
The new climbing quadrupedal robot is expected to be widely used for inspection, repair, and maintenance of large steel structures such as ships, bridges, transmission towers, oil pipelines, large storage areas, and construction sites. As the works required in these places involves risks such as falls, suffocation and other accidents that may result in serious injuries or casualties, the need for automation is of utmost urgency.
One of the first co-authors of the paper, a Ph.D. student, Yong Um of KAIST’s Department of Mechanical Engineering, said, "By the use of the magnetic soles made up of the EPM and MRE and the non-linear model predictive controller suitable for climbing, the robot can speedily move through a variety of ferromagnetic surfaces including walls and ceilings, not just level grounds. We believe this would become a cornerstone that will expand the mobility and the places of pedal-mobile robots can venture into." He added, “These robots can be put into good use in executing dangerous and difficult tasks on steel structures in places like the shipbuilding yards.”
This research was carried out with support from the National Research Foundation of Korea's Basic Research in Science & Engineering Program for Mid-Career Researchers and Korea Shipbuilding & Offshore Engineering Co., Ltd..
< Figure 1. The quadrupedal robot (MARVEL) walking over various ferrous surfaces. (A) vertical wall (B) ceiling. (C) over obstacles on a vertical wall (D) making floor-to-wall and wall-to-ceiling transitions (E) moving over a storage tank (F) walking on a wall with a 2-kg weight and over a ceiling with a 3-kg load. >
< Figure 2. Description of the magnetic foot (A) Components of the magnet sole: ankle, Square Eletro-Permanent Magnet(S-EPM), MRE footpad. (B) Components of the S-EPM and MRE footpad. (C) Working principle of the S-EPM. When the magnetization direction is aligned as shown in the left figure, magnetic flux comes out of the keeper and circulates through the steel plate, generating holding force (ON state). Conversely, if the magnetization direction is aligned as shown in the figure on the right, the magnetic flux circulates inside the S-EPM and the holding force disappears (OFF state). >
Video Introduction: Agile and versatile climbing on ferromagnetic surfaces with a quadrupedal robot - YouTube
2022.12.30 View 12460 -
KI-Robotics Wins the 2021 Hyundai Motor Autonomous Driving Challenge
Professor Hyunchul Shim’s autonomous driving team topped the challenge
KI-Robotics, a KAIST autonomous driving research team led by Professor Hyunchul Shim from the School of Electric Engineering won the 2021 Hyundai Motor Autonomous Driving Challenge held in Seoul on November 29. The KI-Robotics team received 100 million won in prize money and a field trip to the US.
Out of total 23 teams, the six teams competed in the finals by simultaneously driving through a 4km section within the test operation region, where other traffic was constrained. The challenge included avoiding and overtaking vehicles, crossing intersections, and keeping to traffic laws including traffic lights, lanes, speed limit, and school zones. The contestants were ranked by their order of course completion, but points were deducted every time they violated a traffic rule. A driver and an invigilator rode in each car in case of an emergency, and the race was broadcasted live on a large screen on stage and via YouTube.
In the first round, KI-Robotics came in first with a score of 11 minutes and 27 seconds after a tight race with Incheon University. Although the team’s result in the second round exceeded 16 minutes due to traffic conditions like traffic lights, the 11 minutes and 27 seconds ultimately ranked first out of the six universities. It is worth noting that KI-Robotics focused on its vehicle’s perception and judgement rather than speed when building its algorithm. Out of the six universities that made it to the final round, KI-Robotics was the only team that excluded GPS from the vehicle to minimize its risk.
The team considered the fact that GPS signals are not accurate in urban settings, meaning location errors can cause problems while driving. As an alternative, the team added three radar sensors and cameras in the front and the back of the vehicle. They also used the urban-specific SLAM technology they developed to construct a precise map and were more successful in location determination.
As opposed to other teams that focused on speed, the KAIST team also developed overtaking route construction technology, taking into consideration the locations of surrounding cars, which gave them an advantage in responding to obstacles while keeping to real urban traffic rules. Through this, the KAIST team could score highest in rounds one and two combined.
Professor Shim said, “I am very glad that the autonomous driving technology our research team has been developing over the last ten years has borne fruit. I would like to thank the leader, Daegyu Lee, and all the students that participated in the development, as they did more than their best under difficult conditions.”
Dae-Gyu Lee, the leader of KI-Robotics and a Ph.D. candidate in the School of Electrical Engineering, explained, “Since we came in fourth in the preliminary round, we were further behind than we expected. But we were able to overtake the cars ahead of us and shorten our record.”
2021.12.07 View 5022 -
Hubo Professor Jun-Ho Oh Donates Startup Shares Worth 5 Billion KRW
Rainbow Robotics stock used to endow the development fund
Emeritus Professor Jun-Ho Oh, who developed the 2015 DARPA Challenge winning humanoid robot DRC-Hubo, donated 5 billion KRW on October 25 during a ceremony held at the KAIST campus in Daejeon.
Professor Oh donated his 20% share (400 shares) of his startup Rainbow Robotics, which was established in 2011. Rainbow Robotics was listed on the KOSDAQ this February. The 400 shares were converted to 200,000 shares with a value of approximately 5 billion KRW when listed this year.
KAIST sold the stocks and endowed the Jun-Ho Oh Fund, which will be used for the development of the university. He was the 39th faculty member who launched a startup with technology from his lab and became the biggest faculty entrepreneur donor.
“I have received huge support and funding for my research. Fortunately, the research had a good result and led to the startup. Now I am very delighted to pay back the university. I feel that I have played a part in building the school’s startup ecosystem and creating a virtuous circle,” said Professor Oh during the ceremony.
KAIST President Kwang Hyung Lee declared, “Professor Oh has been a very impressive exemplary model for our aspiring faculty and student tech startups. We will spare no effort to support startups at KAIST.”
Professor Oh, who retired from the Department of Mechanical Engineering last year, now serves as the CTO at Rainbow Robotics. The company is developing humanoid bipedal robots and collaborative robots, and advancing robot technology including parts for astronomical observations.
Professor Hae-Won Park and Professor Je Min Hwangbo, who are now responsible for the Hubo Lab, also joined the ceremony along with employees of Rainbow Robotics.
2021.10.26 View 6880