🚀 Suitable for Startups, Small Business, Sass Websites, Professional Portfolios, Marketing Websites, Landing Pages & Blogs.https://hankyukim.comhttps://hankyukim.com/isaaclab-installationhttps://hankyukim.com/isaaclab-installationThis post shows how to install Isaac Lab 3.0 with Isaac Sim 6.0 on Ubuntu using uv, Python 3.12, and PyTorch with CUDA support.Fri, 24 Jul 2026 00:00:00 GMThttps://hankyukim.com/average-filterhttps://hankyukim.com/average-filterThe average filter is the simplest form of recursive estimation. Despite its simplicity, it provides strong noise reduction and forms the foundation of more advanced filters such as the Kalman filter.Tue, 06 Jan 2026 00:00:00 GMThttps://hankyukim.com/extended-kalman-filterhttps://hankyukim.com/extended-kalman-filterThe Extended Kalman Filter applies the Kalman filter to nonlinear systems by locally linearizing system and measurement models using Jacobians.Tue, 06 Jan 2026 00:00:00 GMThttps://hankyukim.com/kalman-filter1https://hankyukim.com/kalman-filter1The Kalman filter is an optimal recursive estimator for linear systems, combining system models and noisy measurements through simple matrix operations.Tue, 06 Jan 2026 00:00:00 GMThttps://hankyukim.com/kalman-filter2https://hankyukim.com/kalman-filter2This post explains the physical meaning of the error covariance P and the Kalman gain K, showing how the Kalman filter adaptively balances model prediction and sensor measurements.Tue, 06 Jan 2026 00:00:00 GMThttps://hankyukim.com/low-pass-filterhttps://hankyukim.com/low-pass-filterA low pass filter reduces noise while emphasizing recent measurements, overcoming the limitations of uniform averaging in moving average filters.Tue, 06 Jan 2026 00:00:00 GMThttps://hankyukim.com/moving-average-filterhttps://hankyukim.com/moving-average-filterThe moving average filter reduces noise while preserving the dynamic behavior of time-varying signals by averaging only a recent window of measurements.Tue, 06 Jan 2026 00:00:00 GMThttps://hankyukim.com/dead-reckoninghttps://hankyukim.com/dead-reckoningForward Euler and Runge–Kutta are fundamental time-integration methods for continuous dynamics. This post explains their differences intuitively and illustrates why integrator choice matters using dead reckoning when GPS is unavailable.Mon, 05 Jan 2026 00:00:00 GMThttps://hankyukim.com/mpchttps://hankyukim.com/mpcThis post contrasts one-shot (memoryless) control computation with iteration-based, optimization-driven control such as MPC, clarifying their roles, trade-offs, and practical implications in robotics.Mon, 05 Jan 2026 00:00:00 GMThttps://hankyukim.com/observability-and-controllabilityhttps://hankyukim.com/observability-and-controllabilityObservability and controllability describe whether a system’s internal states can be inferred from outputs or driven by inputs. These concepts form the foundation of estimation and control in robotics and autonomous driving.Mon, 05 Jan 2026 00:00:00 GMThttps://hankyukim.com/fabrikhttps://hankyukim.com/fabrikFABRIK(A Fast Iterative Solver for the Inverse Kinematics Problem) is a heuristic, iterative inverse kinematics solver that avoids complex matrix operations and singularities, providing smooth motion and fast convergence for robotic chains.Fri, 12 Sep 2025 00:00:05 GMThttps://hankyukim.com/numerical-inverse-kinematicshttps://hankyukim.com/numerical-inverse-kinematicsNumerical inverse kinematics can iteratively solve for joint angles to reach a desired end-effector position using gradient descent with the Jacobian pseudo-inverse, suitable for planar manipulators and more complex robotic arms.Fri, 12 Sep 2025 00:00:04 GMThttps://hankyukim.com/analytical-inverse-kinematicshttps://hankyukim.com/analytical-inverse-kinematicsThis post demonstrates how to compute the inverse kinematics of a 2-link planar robot arm using the Law of Cosines, providing a step-by-step guide for analytical solutions.Fri, 12 Sep 2025 00:00:03 GMThttps://hankyukim.com/dh-parametershttps://hankyukim.com/dh-parametersDenavit-Hartenberg (DH) parameters provide a systematic way to describe robot geometry, linking kinematics, joints, and links for practical robot modeling and control.Fri, 12 Sep 2025 00:00:02 GMThttps://hankyukim.com/transformation-matrixhttps://hankyukim.com/transformation-matrixThe core idea of transformation matrices is that a point represented in one coordinate frame (B) can be expressed in another frame (A) by combining rotation and translation into a single operator.Fri, 12 Sep 2025 00:00:01 GMThttps://hankyukim.com/dynamic-compensation-matlabhttps://hankyukim.com/dynamic-compensation-matlabI wrote some tutorial code of pd controller, pi controller, lead compensator, and lag compensator in MATLAB. Feel free to use!!Tue, 09 Sep 2025 00:00:00 GMThttps://hankyukim.com/pi0https://hankyukim.com/pi0π₀ is an innovative VLA model that combines a vision–language backbone with an action expert module and flow matching, producing continuous action sequences from natural language and images.Sun, 07 Sep 2025 00:00:00 GMThttps://hankyukim.com/diffusion-policyhttps://hankyukim.com/diffusion-policyDiffusion-based models such as DDPM and their use in policy learning rely on denoising mechanisms, UNet architectures, and structured action representations to capture complex sequential behaviors.Sat, 06 Sep 2025 00:00:00 GMThttps://hankyukim.com/openvlahttps://hankyukim.com/openvlaOpenVLA is a 7B open-source VLA model built on Llama2 + DINOv2 + SigLIP, trained on 970k demos, achieving stronger generalization and robustness than closed RT-2-X (55B) and outperforming Diffusion Policy.Sat, 06 Sep 2025 00:00:00 GMThttps://hankyukim.com/acthttps://hankyukim.com/actAction Chunking with Transformers (ACT) combines the representational strength of autoencoders with the contextual modeling of transformers, producing compact latent variables that generate coherent action sequences.Mon, 01 Sep 2025 00:00:00 GMThttps://hankyukim.com/automatic-contolhttps://hankyukim.com/automatic-contolAutomatic control adjusts a system’s input so that its output follows a desired reference, ensuring stability, precision, and robustness across engineering applications.Sun, 31 Aug 2025 00:00:00 GMThttps://hankyukim.com/dynamic-compensationhttps://hankyukim.com/dynamic-compensationCompensation techniques such as PD, Lead, PI, and Lag are essential in control engineering. They shape transient response, steady-state error, and stability margins by modifying the frequency characteristics of systems.Sun, 31 Aug 2025 00:00:00 GMThttps://hankyukim.com/fluid-systemshttps://hankyukim.com/fluid-systemsFluid systems are fundamental in engineering, describing pressure, flow rate, buoyancy, and energy conservation principles applied in hydraulics, pneumatics, and aerodynamics.Sun, 31 Aug 2025 00:00:00 GMThttps://hankyukim.com/pid-controlhttps://hankyukim.com/pid-controlPID control is one of the most widely used techniques in engineering, combining proportional, integral, and derivative actions to achieve stability, precision, and robustness in dynamic systems.Sun, 31 Aug 2025 00:00:00 GMThttps://hankyukim.com/heat-transferhttps://hankyukim.com/heat-transferHeat transfer is the process of energy movement due to temperature difference, modeled through conduction, convection, and thermal resistance analogies.Fri, 29 Aug 2025 00:00:00 GMThttps://hankyukim.com/dynamicshttps://hankyukim.com/dynamicsDynamics is the branch of mechanics concerned with the motion of bodies under the action of forces.Thu, 28 Aug 2025 00:00:00 GMThttps://hankyukim.com/electromechanicalhttps://hankyukim.com/electromechanicalElectromechanical systems link electrical and mechanical domains, forming the foundation for motors, generators, actuators, and energy conversion devices through mathematical modeling.Thu, 28 Aug 2025 00:00:00 GMThttps://hankyukim.com/electronic-circuitshttps://hankyukim.com/electronic-circuitsElectronic circuits form the foundation of system modeling, using basic components such as resistors, capacitors, inductors, and operational amplifiers to analyze and design dynamic systems.Thu, 28 Aug 2025 00:00:00 GMT