Robotic manipulation
Autonomous vehicle/mobile robot
Sensor and actuators
Robotic applications of machine learning
Education
(Ph.D.) University of Michigan, Ann Arbor
Experience
Post-doctoral fellow, Robotics Institute, Carnegie Mellon University
Visiting Professor, Department of Mechanical Engineering, UNLV
Journal Articles
(2024)
Development of a Wheel-Type In-Pipe Robot Using Continuously Variable Transmission Mechanisms for Pipeline Inspection.
BIOMIMETICS.
9,
2
(2024)
Unloading sequence planning for autonomous robotic container-unloading system using A-star search algorithm.
ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH.
50,
(2024)
Escape behaviors in prey and the evolution of pennaceous plumage in dinosaurs.
SCIENTIFIC REPORTS.
14,
549
(2024)
Unloading sequence planning for autonomous robotic container-unloading
system using A-star search algorithm.
ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH.
50,
1
(2023)
High-Fidelity Drone Simulation with Depth Camera Noise and Improved Air Drag Force Models.
APPLIED SCIENCES-BASEL.
13,
19
(2023)
A series elastic actuator using air and water and its force control.
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY.
37,
9
(2023)
Oscillation reduction for artificial potential field using vector projections for robotic manipulators.
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY.
37,
7
(2023)
Industrial manipulator calibration with geometric and non-geometric parameters for the enhanced positioning accuracy.
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY.
37,
6
(2023)
An Asymmetric Velocity Profile for Minimizing Wafer Slippage and Settling Time of a Wafer Transport Robot.
ELECTRONICS.
12,
10
(2023)
A Meal-Assistance Robot System for Asian Food and Its Food Acquisition Point Estimation and User Interface Based on Face Recognition.
APPLIED SCIENCES-BASEL.
13,
5
(2022)
A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator.
SENSORS.
22,
24
(2022)
Combined task and motion planning system for the service robot using hierarchical action decomposition.
INTELLIGENT SERVICE ROBOTICS.
15,
4
(2022)
Six-Wheel Robot Design Methodology and Emergency Control to Prevent the Robot from Falling Down the Stairs.
APPLIED SCIENCES-BASEL.
12,
9
(2022)
An Online Task-Planning Framework Using Mixed Integer Programming for Multiple Cooking Tasks Using a Dual-Arm Robot.
APPLIED SCIENCES-BASEL.
12,
8
(2022)
Simultaneous Positive and Negative Pressure Control Using Disturbance Observer Compensating Coupled Disturbance Dynamics.
IEEE ROBOTICS AND AUTOMATION LETTERS.
7,
2
(2022)
Soft Artificial Muscle With Proprioceptive Feedback: Design, Modeling and Control.
IEEE ROBOTICS AND AUTOMATION LETTERS.
7,
2
(2022)
Vacuum Suction Cup Modeling for Evaluation of Sealing and Real-Time Simulation.
IEEE ROBOTICS AND AUTOMATION LETTERS.
7,
2
(2022)
Variable Stiffness Robotic Hand Driven by Twisted-Coiled Polymer Actuators.
IEEE ROBOTICS AND AUTOMATION LETTERS.
7,
2
(2022)
Primitive Action Based Combined Task and Motion Planning for the Service Robot.
Frontiers in Robotics and AI.
9,
(2022)
Parasitic Capacitance-Free Flexible Tactile Sensor
with a Real-Contact Trigger.
SOFT ROBOTICS.
9,
1
Patent/Intellectual Property
물류환경을 위한 알오에스 기반 2지 그리퍼 파지 위치 추정 모듈 프로그램.
C-2020-047037.
20201201.
KOREA, REPUBLIC OF
물류환경을 위한 알오에스 기반 2지 그리퍼 파지 위치 추정 모듈 프로그램.
C-2020-047037.
20201201.
KOREA, REPUBLIC OF
회전 액추에이터.
10-2018-0065616.
20190722.
KOREA, REPUBLIC OF
로봇 매니퓰레이터 충돌 검출 장치 및 방법(APPARATUS AND METHOD OF COLLISION DETECTION OF ROBOT MANIPULATOR).
10-1970-9510000.
20190416.
KOREA, REPUBLIC OF
조인트 모듈 및 이를 이용한 모터조립체.
10-2017-0062451.
20181228.
KOREA, REPUBLIC OF
케이블 그립장치.
10-2017-0044390.
20181224.
KOREA, REPUBLIC OF
Sensors and method of manufacturing the same.
743762.
20171226.
UNITED STATES
변속기를 이용한 배관 검사용 이동 로봇.
1020150159754.
20170410.
KOREA, REPUBLIC OF
힘측정이 가능한 디지털 타입 센서.
1020150114260.
20170405.
KOREA, REPUBLIC OF
와이어 하네스 핸들링용 그리퍼.
1020150145880.
20170316.
KOREA, REPUBLIC OF
Brake mechanism of robot using multi-output differential gear.
554499.
20160830.
UNITED STATES
Robot for inspecting pipelines.
14093129 .
20160726.
UNITED STATES
다중 출력 차동 기어를 이용한 로봇의 브레이크 메카니즘.
1020130165596.
20160518.
KOREA, REPUBLIC OF
전도성 신축성 섬유, 상기 섬유를 포함하는 직물, 및 이들의 제조방법.
1020140114312.
20160404.
KOREA, REPUBLIC OF
다중 출력 차동 기어를 이용한 로봇(ROBOT USING MULTY-OUT DIFFERENTIAL GEAR).
10-2014-0108495.
20160215.
KOREA, REPUBLIC OF
유압액추에이터의 제어장치(CONTROL DEVICE FOR HYDRAULIC ACTUATOR).
10-1573573-0000.
20151125.
KOREA, REPUBLIC OF
최적화된 이동경로를 갖는 레이저 가공방법(METHOD FOR LASER MACHINING WITH OPTIMIZED MOVING ROUTE).
10-1542018-0000.
20150729.
KOREA, REPUBLIC OF
센서 및 그 제조방법.
1020140082592.
20150630.
KOREA, REPUBLIC OF
대역 외란 관측기를 이용한 매니퓰레이터의 충돌에 의한 외란 감지 장치 및, 그 감지 방법(DEVICE FOR COLLISION DETECTION USING BAND DESIGNED DISTERBANC OBSERVER, AND THE METHOD).
10-1529760-0000.
20150611.
KOREA, REPUBLIC OF
Multi-axis sensor (다중 축 센서).
13719680.
20150414.
UNITED STATES
Conference Paper
(2023)
Static and Dynamic Collision Avoidance for Autonomous Robot Navigation in Diverse Scenarios based on Deep Reinforcement Learning.
2023 International Conference on Ubiquitous Robots (UR 2023).
UNITED STATES
(2022)
Design of a Conveyor Belt Manipulator for Reposition of Boxes in
Logistics Centers.
IEEE 18th International Conference on AutomationScience and Engineering (CASE).
MEXICO
(2022)
A New Strapping Grasper for Picking Tasks of Various Objects using
Flexible Band.
International Conference on Ubiquitous Robots.
KOREA, REPUBLIC OF
(2022)
Box segmentation, position and size estimation for robotic box handling
applications1.
International Conference on Ubiquitous Robots.
KOREA, REPUBLIC OF
(2022)
Object Inserting Operation with Admittance Control of A 4-DOF
Hydraulic Manipulator with Rotary Vane Actuators.
International Conference on Ubiquitous Robots.
KOREA, REPUBLIC OF
(2022)
Terrain Recognition Based on the Wheel Contact Angle Measurement
using Laser Scanners for Six-Wheel Mobile Robot.
International Conference on Ubiquitous Robots.
KOREA, REPUBLIC OF
(2022)
Soft Artificial Muscle With Proprioceptive Feedback:
Design, Modeling and Control.
International conference on Soft Robotics.
UNITED KINGDOM
(2021)
Stereo MSCKF with Online Extrinsic Calibration
using Invariant Extended Kalman Filter.
2021 18th International Conference on Ubiquitous Robots (UR).
KOREA, REPUBLIC OF
(2021)
Depth Hole Filling based on Deep Learning for Robust Grasp Detection.
2021 18th International Conference on Ubiquitous Robots (UR).
KOREA, REPUBLIC OF
(2020)
Simultaneous position-stiffness control of antagonistically driven twisted-coiled polymer actuators using model predictive control.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
UNITED STATES
(2020)
Motions Analysis for Stair Climbing by Two or Three Steps and cross over an obstacle for a Quadruped Robot.
2020 20th International Conference on Control, Automation and Systems (ICCAS 2020).
KOREA, REPUBLIC OF
(2020)
Preliminary Connector Recognition System Based on Image Processing for Wire Harness Assembly Tasks.
2020 20th International Conference on Control, Automation and Systems (ICCAS 2020).
KOREA, REPUBLIC OF
(2020)
근접센서를 활용한 맵핑의 성능 검증을 위한 시뮬레이션 환경구성.
제15회 한국로봇종합학술대회.
KOREA, REPUBLIC OF
(2020)
멀티콥터제어를 위한 추력 및 이동 속도의 영향을 고려한 로터 항력 모델링.
제15회 한국로봇종합학술대회.
KOREA, REPUBLIC OF
(2020)
비주얼 오도메트리 최적화를 위한 환경 내 특징점 및 특징선 분포 분석.
제15회 한국로봇종합학술대회.
KOREA, REPUBLIC OF
(2020)
전류센서 기반의 모터 추력 제어.
제15회 한국로봇종합학술대회.
KOREA, REPUBLIC OF
(2020)
중복 오차 인자의 제거를 통한 로봇 캘리브레이션 방법.
제15회 한국로봇종합학술대회.
KOREA, REPUBLIC OF
(2020)
최소 스냅 전역 경로 기반 실시간 장애물 회피 재계획법.
제15회 한국로봇종합학술대회.
KOREA, REPUBLIC OF
(2020)
Jerk estimation for quadrotor based on differential flatness.
2020 17th International Conference on Ubiquitous Robots (UR).
JAPAN
(2020)
Task Planning with Mixed-Integer Programming for Multiple Cooking Task Using dual-arm Robot.
2020 17th International Conference on Ubiquitous Robots (UR).
JAPAN