RESEARCH
We develop methods that connect dynamics, optimization, learning, and interaction—and validate them on robots operating beyond controlled demos.
Watch experiment ↗01 / 11
We develop whole-body controllers that can insert, remove, and reprioritize tasks online, allowing mobile manipulators to respond smoothly to unexpected events.
Watch experiment ↗02 / 11
Our work combines inverse dynamics, compliant control, trajectory optimization, and learned guidance for stable multi-contact locomotion and manipulation.
Watch experiment ↗03 / 11
We study coordinated manipulation and intuitive interfaces for teams of robots and humans performing physically demanding tasks together.
Watch experiment ↗04 / 11
We connect perception and learning with control for applications ranging from dexterous teleoperation to automated scientific experiments.
Watch experiment ↗05 / 11
We combine traversability estimation, mapping, and planning so mobile robots can operate reliably in rough and unstructured environments.
Watch experiment ↗06 / 11
We investigate DDP, MPPI, and constrained sampling-based control for fast, robust motion generation across robotic platforms.
Watch experiment ↗07 / 11
Our humanoid research targets whole-body behaviors that integrate balance, locomotion, manipulation, and AI-based planning.
Watch experiment ↗08 / 11
We develop planning and control methods for dual-arm, triple-arm, and heterogeneous robot systems working in tightly coupled tasks.
Watch experiment ↗09 / 11
We develop geometry-aware sampling-based planners that satisfy equality and inequality constraints while efficiently exploring complex feasible motion spaces.
Watch experiment ↗10 / 11
We combine vision-language-action policies with force-informed residual learning to make contact-rich manipulation more adaptive and robust.
Explore project ↗11 / 11
We build instance-enriched semantic maps that connect open-vocabulary perception, room understanding, and object attributes for language-guided navigation.
INFRASTRUCTURE
Facilities at Kyung Hee University and the Advanced Institute of Convergence Technology.
Unitree H1-2 full-size humanoid
Robros IGRIS-C full-size humanoid
Scout mobile manipulator with Franka arm
Hunter, Limo, TurtleBot 3/4 mobile robots
Go2, Go2-W, and A2 quadruped robots
FR5, Piper, and SO-ARM100 manipulators
Nokov Pluto motion-capture system
HoloLens 2, Apple Vision Pro, and Meta Quest 3
A6000-class GPU servers and workstations
