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--- ires_journal2 [2018/06/17 18:39] – created yuhanghe
+++ ires_journal2 [2018/06/24 18:46] (current) – yuhanghe
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 The food in Korea is amazing, period. I love the variety of food I was able to experience during my first and second week of stay. The photo above is a spicy beef stew with noodle. The members of Hubo Lab invited me to lunch with them. We visited a restaurant right outside the KAIST campus. The meal was delicious and surprisingly cheap. Even the regular meals in the cafeteria offers a wide selection of dishes to choose from. Some Korean foods are similar to the Chinese cuisine, which is why I find myself able to enjoy every meal.
-==== What I Learn about Myself ====
+==== What I Learned about Myself ====
 This is the first time I travel outside of United States in 10 years. I was worried about living in a dorm in a foreign country without knowing how to speak the language. However, after 2 weeks, I found myself settling into a daily routine and adjusting to the culture and living condition. The culture shock I experienced here is much less than when I first move to United States from China. I found many similarity between Korean and Chinese culture.
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 ==== Project Status ====
 {{ :yuhang:ires2018:hubo2.jpg?400 |}}
-During the first week at Hubo Lab, I was given a brand new Intel Nuc kit because my laptop is not powerful enough. With the help of Hubo lab members I was able to install memory, SDD, ubuntu OS, Xenomai, QT, and Choreonoid on the PC. The Xenomai, QT and Choreonoid will allow to simulate Hubo 2 on the computer. I also learn how to add new features to the PODOGUI.
+During the first part of second week, I focused on learning the program and source codes behind operation of Hubo 2. I studied the WalkReady program for Hubo 2 and learned how to create custom commands on the PODOGUI. I learned how to write the program to move each joint motors.
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+I was planning to learn how to use motion capture system and record motion data this week. Unfortunately, there is only one member in Hubo Lab who knows how to use the motion capture system. He plans to teach other Hubo Lab members how to use it next week. Therefore, I push the plan to use motion capture system to next week.
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+Meanwhile, I devoted myself to studying kinematic and dynamic for robotics. Both concepts are fundamental to humanoid robotics. After talking with the Hubo Lab members, I realized that my understanding of these subject is too shallow to properly research and work with Hubo. They suggested some material for me to study. I covered rotation matrix, homogeneous transformation, DH convention, Jacobian, singularities, and redundancy last week.