Korean voiced, unvoiced consonant sound (ㅂ, ㄷ, ㅈ, ㄱ)

"ㅂ, ㄷ, ㅈ, ㄱ"
voiced: [b] [d] [dʒ] [g]
When the consonant is placed between vowels or after resonant consonants (ㄴ[n], ㄹ[l], ㅁ[m], ㅇ[ŋ])
Unvoiced: [p] [t] [tʃ] [k]
Except the cases above
Fig. 1.2 the ㅂ consonant
버블 [pɔ bŭl̚] bubble
바보 [pa bo] fool
고백 [ko bɛk̚] confession
도보 [to bo] walking
Fig. 1.5 the ㄷ consonant
다과 [ta gwa] snack
도자기 [to tʃa gi] china
대나무 [tɛ na mu] bamboo
그대 [kŭ dɛ] romantic way of calling “you”
날다 [nal̚ da] fly
Fig. 1.11 the ㅈ consonant
진달래 [tʃin̚ dal̚ lɛ] azalea
진한 [tʃi nan̚] dark or thick
가지 [ka dʒi] eggplant
간장 [kan̚ dʒaŋ̚] soy sauce
Fig. 1.15 the ㄱ consonant
기다리마 [ki da ɾi ma] I will wait for you
그대 [kŭ dɛ] you
고기 [ko gi] meat
간곡히 [kan̚ go kʰi] sincerely
감격 [kam̚ gyɔk̚] being moved
공감 [koŋ̚ gam̚] sympathy
굴곡 [kul̚ gok̚] curve

Korean voiced, unvoiced consonant sound (ㅂ, ㄷ, ㅈ, ㄱ)