Ideas tested, documented, and shared.

IEEE Transactions on Robotics

CLEAR: Certified Constraint-Compatible Motion for Multi-Robot Passage

Robotics and Computer-Integrated Manufacturing

Amortized Homotopy-Diverse Trajectory Operators for Environment-Aware Manipulator Collision Avoidance

Aerospace Science and Technology

From Orbital DEMs to Onboard Decisions: Belief-Triggered Replanning for Long-Range Lunar Rover Traverses

IEEE Robotics and Automation Letters

Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators

IEEE Robotics and Automation Letters

FIRe: Force-Informed Residual Policy for Contact-Rich Manipulation with Vision-Language-Action Models

International Journal of Control, Automation, and Systems

Linear or Bilinear: A Criterion for Koopman Rollouts in Sampling-Based Predictive Control

IEEE Robotics and Automation Letters

GRACE: Gradient-Free Robot Action Generation via Combined Diffusion-MPPI Posterior Mean Estimation

IEEE Access

LLM-Guided Tool-Aware Task and Motion Planning for Chemistry Lab Automation

IEEE Transactions on Automation Science and Engineering

Unified Prescribed-Path Planning and Feasibility Checking Across Redundant Manipulators

ISA Transactions

Title Withheld (MPPI Review)

Engineering Science and Technology, an International JournalJCR Top 12.1%

Task-Specific Acceleration-Domain Trajectory Optimization for Smooth and Energy-Efficient Industrial Manipulator Motion

Dongjo Kim, Minhyeong Kang, Hojin Lee, Nakyoung Lee, Stephen Baek, Sanghyun Kim^†, Sanga Lee^†, Jeongsu Lee^†

International Journal of Control, Automation, and Systems

Manifold-Constrained MPPI: Real-Time Sampling-Based Control Under Hard Constraints

Seulchan Lee, Sanghyun Kim^†

IEEE Transactions on RoboticsJCR Top 9.4%

RMRRT: Riemannian Barrier Metric RRT for Inequality-Aware Steering on Equality Manifolds

Information SciencesJCR Top 18.2%

High-Performance Fixed-Time Active Fault-Tolerant Control of Robotic Manipulators via Sparse Physics-Informed Dynamics Learning

Thanh Nguyen Truong, Sanghyun Kim^†

Engineering Applications of Artificial IntelligenceJCR Top 3.1%

Instance-Enriched Semantic Maps for Visual Language Navigation

Jiho Hong^*, Eunae Kang^*, Sanghyun Kim^†, Young-Sik Shin^†

MathematicsJCR Top 6.0%

Hybrid A*-guided Model Predictive Path Integral Control for Robust Navigation in Rough Terrains

Joonyeol Yang^*, Minhyeong Kang^*, Seulchan Lee, Sanghyun Kim^†

Journal of Mechanical Science and Technology

Enhanced Online Parameter Estimation of Unknown Objects via Sparse Identification of Unmodeled Dynamics

Hakjun Kim, Sanghyun Kim^†, Jinseong Park^†

IEEE Transactions on Automation Science and EngineeringJCR Top 16.1%

Object-Aware Impedance Control for Human-Robot Collaborative Task with Online Object Parameter Estimation

Jinseong Park, Yong-Sik Shin^†, Sanghyun Kim^†

Nonlinear DynamicsJCR Top 7.9%

Whole-body Control of Redundant Hybrid Cable-Driven Robot with Manipulator: Hierarchical Quadratic Programming Approach

Suhwan Park^*, Leesai Park^*, Seulchan Lee^*, Sanghyun Kim^†

IEEE Transactions on RoboticsJCR Top 9.4%

Online Multi-Contact Receding Horizon Planning via Value Function Approximation

Jiayi Wang^†, Sanghyun Kim, Teguh Santoso Lembono, Wenqian Du, Jaehyun Shim, Saeid Samadi, Ke Wang, Vladimir Ivan, Sylvain Calinon, Sethu Vijayakumar, Steve Tonneau

Sensors

Comparative Analysis of Integrated Filtering Method Using UWB Localization in Indoor Environments

Rahul Ranjan, Donggyu Shin, Yoonsik Jung, Sanghyun Kim, Jong-Hwan Yun, Chang-Hyun Kim, Seungjae Lee, Joongeup Kye^†

Applied Sciences

The Development of Software to Automate the Laser Welding of a Liquefied Natural Gas Cargo Tank Using a Mobile Manipulator

Taeyong Choi^†, Jongwoo Park, Jeongae Bak, Dongil Park, Hyunuk Seo, Sanghyun Kim

IEEE Robotics and Automation Letters

Motion Planning of Mobile Manipulator for Navigation Including Door Traversal

Keunwoo Jang, Sanghyun Kim^†, Jaeheung Park^†

IEEE Access

Dual-Arm Path-Planning Algorithm for Wiring Harness Assembly Using Redundantly Actuated Robotic Systems

Jiyoung Kim, Jin-Gyun Kim, Jongwoo Park, Byung-Kil Han, Sanghyun Kim^†, Dong Il Park^†

Intelligent Service Robotics

Weighted Hierarchical Quadratic Programming: Assigning Individual Joint Weights for Each Task Priority

Keunwoo Jang, Sanghyun Kim^†, Suhan Park, Junhyung Kim, Jaeheung Park

IEEE/ASME Transactions on Mechatronics

Regularized Hierarchical Quadratic Program for Real-Time Whole-Body Motion Generation

Seongil Hong, Keunwoo Jang, Sanghyun Kim, Jaeheung Park^†

Applied Sciences

Design of JET Humanoid Robot with Compliant Modular Actuators for Industrial and Service Applications

Jaehoon Sim, Seungyeon Kim, Suhan Park, Sanghyun Kim, Mingon Kim, Jaeheung Park^†

IEEE Access

A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimisation

Yisoo Lee, Sanghyun Kim, Jaeheung Park, Nikos Tsagarakis, Jinoh Lee^†

Sensors

Reactive Self-Collision Avoidance for a Differentially Driven Mobile Manipulator

Keunwoo Jang, Sanghyun Kim, Jaeheung Park^†

Journal of Bionic Engineering

Grasping Force Estimation by sEMG Signals and Arm Posture: Tensor Decomposition Approach

Sanghyun Kim, Joowan Kim, Mingon Kim, Seungyeon Kim, Jaeheung Park^†

IEEE Robotics and Automation Letters

Continuous Task Transition Approach for Robot Controller Based on Hierarchical Quadratic Programming

Sanghyun Kim, Keunwoo Jang, Suhan Park, Yisoo Lee, Sang Yup Lee, Jaeheung Park

The DARPA Robotics Challenge Finals: Humanoid Robots to the Rescue

Team SNU’s Control Strategies to Enhance Robot Capability: Lessons from the DARPA Robotics Challenge Finals 2015

Sanghyun Kim, Mingon Kim, Jimin Lee, Soonwook Hwang, Joonbo Chae, Beomyeong Park, Hyunbum Cho, Jaehoon Sim, Jaesug Jung, Hosang Lee, Seho Shin, Minsung Kim, Wonje Choi, Yisoo Lee, Sumin Park, Jiyong Oh, Yongjin Lee, Sangkuk Lee, Myunggi Lee, Sangyup Yi, Kyong-Sok K. C. Chang, Nojun Kwak, Jaeheung Park^†

Journal of Field Robotics

Team SNU’s Control Strategies to Enhance Robot Capability: Lessons from the 2015 DARPA Robotics Challenge Finals

Sanghyun Kim, Mingon Kim, Jimin Lee, Soonwook Hwang, Joonbo Chae, Beomyeong Park, Hyunbum Cho, Jaehoon Sim, Jaesug Jung, Hosang Lee, Seho Shin, Minsung Kim, Wonje Choi, Yisoo Lee, Sumin Park, Jiyong Oh, Yongjin Lee, Sangkuk Lee, Myunggi Lee, Sangyup Yi, Kyong-Sok K. C. Chang, Nojun Kwak, Jaeheung Park^†

Experimental Robotics

Robot Hand Synergy Mapping Using Multi-Factor Model and EMG Signal

Sanghyun Kim, Mingon Kim, Jimin Lee, Jaeheung Park^†