Journal of Institute of Control, Robotics and Systems

Policy Proposals for Humanoid Robot Acquisition and Deployment in National Defense

Dongwoo Ko, Changhyun Cho, Sungho Park, Jae-Hee Jang, Gyu-Hee Yoon, Dowan Cha

Rapid advances in artificial intelligence and robotics are reshaping the future of warfare. Humanoid robots, with their human-like form and growing autonomy, ar...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0153

Optimal Design of a Humanoid Joint Motor Using a Machine Learning-based Surrogate Model

Joo-Chang Lee, Dong-Kuk Lim

This paper presents the optimal design of a joint motor customized for humanoid robots. An initial design satisfying the required torque was first established, ...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0149

Design and Kinematic Analysis for Error Minimization in a Hybrid Tendon-driven Manipulator

Yonghun Yang, Inho Lee

By placing actuators near the base, a tendon-driven mechanism offers distinct advantages, keeping the system’s center of mass close to the body. This reduces th...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0145

A Novel Risk Assessment Framework for Ensuring the Safety of Humanoid Robots

Joel Ryu, Jinwoo Jun

Humanoid robots mimic human forms and utilize advanced artificial intelligence (AI), creating complex safety challenges that traditional frameworks struggle to ...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0152

Investigating the Trade-off Between Model-based and Deep Learning Decoders for Brain-machine Interfaces

Seunghan Lee, June Sic Kim, Chun Kee Chung, Sung-Phil Kim

Severely paralyzed patients encounter major difficulties with daily tasks, restricting their independence and quality of life. Over the last few decades, brain–...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0111

Density-driven NeRF for Low-light Scene Synthesis

Chang-Ju Noh, Kwang-Hyun Park

Neural Radiance Fields (NeRF) shows impressive results in novel view synthesis under normal illumination. However, in low-light scenes, the limited pixel values...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0106

Occlusion-robust Cross-view Geo-image Retrieval via Contrastive Learning and Random Masking

Seunghee Lee

Cross-view geo-image retrieval (CVIR) aims to retrieve geographically corresponding satellite images given ground-view images, playing a vital role in various a...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0161

Leveraging Large Language Model Assistance on Explicit Object Target Prediction and Navigation in Unseen Area

I Made Putra Arya Winata, Donghyun Lee, Ida Bagus Dwiweka Naratama, Junghyun Oh

Object-based goal navigation tasks require embodied agents to locate specified objects in unfamiliar environments, a key challenge in vision-language navigation...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0102

Multi-robot Path Planning Based on Two-stage Genetic Algorithm Using Direction Ordering Chromosome

Jeong Hyun Park, Myun Joong Hwang

Efficient collision-free path planning is crucial in multi-robot systems. This paper presents a path planning strategy for multiple robots navigating environmen...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0123

Development of a Terrain-specific Modified Gait Index Using the AnyBody Modeling System

Yoon-Seo Kim, Seong-Min Ha, Joon-Kyu No, Soonwoong Hwang, Wansoo Kim

Gait is intricately linked to human health, with key gait indexes showing strong correlations. To overcome limitations of flat-surface-focused evaluations, we p...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0116

Real-time Robot Placement-based Inverse Reachability Map

Tae Gyeom Lee, Jung Hyun Choi, Myun Joong Hwang

This paper presents an efficient method for determining optimal robot base placement based on target end-effector poses. While traditional approaches involve ti...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0122

Nonlinear Optimization-based Real-time Trajectory Planning for Cooperative Transport of Heterogeneous Mobile Manipulators

Seokhwan Hwang, Jihwan Oh, Jungsoo Lee, Soonwoong Hwang, Wansoo Kim

This paper proposes a real-time trajectory planning method using nonlinear optimization and whole-body control for cooperative transport with heterogeneous mobi...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0117

End-to-end Network for Autonomous Vehicles Based on a Bird’s Eye View Perception Module

Jeon-Hyeok Lee, Joo-Yeon Yeon, Tae-Hyoung Park

End-to-end autonomous driving reduces errors and information loss during inter-module communication by directly predicting control commands from input sensor da...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0125

Calibration of Robot Manipulator and Hand-eye Using RGB Camera

Jiyong Lee, Bum-Jae You

This paper proposes a robot manipulator and hand–eye kinematic calibration method using an RGB camera attached to an end effector. For in-hand configuration, se...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0094

Design of a Transfer Automation Device for the Pre-processing Movement of Large Centrifugal Cast Pipes

Kyu-Jo Lee, Gab Soon Kim

This study presents the design of an automated conveying device for the pre-processing movement of large centrifugal cast pipes. Large cast iron pipes (size: 44...

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DOI: https://doi.org/10.5302/J.ICROS.2025.25.0092

A Comparative Analysis Based on Metamorphic Testing of CNN Algorithms for Classification of Vehicle Dashboards

Jong Min Jeong, Dong Hun Kim

This paper proposes an effective classification system for vehicle dashboards using various pretrained convolutional neural network (CNN) models and presents a ...

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DOI: https://doi.org/10.5302/J.ICROS.2025.24.0277