Publications

Papers in UIUC (2020~)

  1. Kazuki Shin, Roman Mineyev, Jooyoung Hong, and Joohyung Kim, “Autonomous Door-Opening with a Dual-Arm Robot,” International Conference on Ubiquitous Robots (UR2024), Accepted
  2. Sean Taylor, Kyungseo Park, Sankalp Yamsani, and Joohyung Kim, “Fully 3D printable Robot Hand and Soft Tactile Sensor based on Air-pressure and Capacitive Proximity Sensing,” IEEE International Conference on Robotics and Automation (ICRA2024), Accepted [video]
  3. Kyungseo Park, Kazuki Shin, Sankalp Yamsani, Kevin Gim, and Joohyung Kim, “Low-cost and Easy-to-Build Soft Robotic Skin for Safe and Contact-rich Human-Robot Collaboration,” in IEEE Transactions on Robotics, doi: 10.1109/TRO.2024.3378174 [paper, video]
  4. Kevin Gim and Joohyung Kim, “Ringbot: Monocycle Robot With Legs,” in IEEE Transactions on Robotics, doi: 10.1109/TRO.2024.3362326 [paper, video]
  5. Kazuki Shin, Sankalp Yamsani, Roman Mineyev, Hongyu Chen, Nitish Gandi, Yong Jae Lee, Joohyung Kim, ”Exploring the Capabilities of a General-Purpose Robotic Arm in Chess Gameplay,” IEEE-RAS International Conference on Humanoid Robots, December 2023 [paper, video]
  6. Yu-Chen (Johnny) Chang, Nitish Gandi, Kazuki Shin, Ye-Ji Mun, Katherine Driggs-Campbell, Joohyung Kim, ”Specifying Target Objects in Robot Teleoperation Using Speech and Natural Eye Gaze,” IEEE-RAS International Conference on Humanoid Robots, December 2023 [paper, video]
  7. Jooyoung Hong, Kazuki Shin, Dhruv Mathur, Sankalp Yamsani, Joohee Yim, Joohyung Kim, ”Lip–Inspired Passive Jamming Gripper with Teeth Structure,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2023), October 2023 [paper, video]
  8. Chaerim Moon and Joohyung Kim, “Coordinated Motion Planning of a Wearable Multi-Limb System for Enhanced Human-Robot Interaction,”  Workshop on Multilimb Coordination in Human Neuroscience and Robotics: Classical and Learning Perspectives, IROS2023, October 2023
  9. Chaerim Moon, Sean Taylor, Kevin Gim, Sankalp Yamsani, Kazuki Shin, Kyungseo Park, Joohyung Kim, “Robotic Backpack System with Pluggable Supernumerary Limbs,” Demo Session, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2023), October 2023 [video]
  10. Sankalp Yamsani, Kevin Gim, Tyler Smithline, Richard Qiu, Chaerim Moon, Sungmin Kang, Roman Mineyev, Kyungseo Park, Yoon-Koo Kang, Seulbi An, SungHwan Ahn, Joohyung Kim, ”MOMO: Mobile Object Manipulation Operator,” Demo Session, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2023), October 2023 [video]
  11. Chaerim Moon, Sankalp Yamsani, Joohyung Kim, “Development of a 3-DOF Interactive Modular Robot with Human-like Head Motions,” IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), August 2023 [paper, video]
  12. Sankalp Yamsani, Sean Taylor, Kazuki Shin, Jooyoung Hong, Dhruv Mathur, Kevin Gim, Joohyung Kim, “Orthrus: A Dual-arm Quadrupedal Robot for Mobile Manipulation and Entertainment Applications,” IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), August 2023 [paper, video]
  13. Kevin Genehyub Gim, Sankalp Yamsani, Kazuki Shin, Joohyung Kim, “What If a Vacuum Robot Has an Arm?” International Conference on Ubiquitous Robots, June 2023 [paper, video]
  14. Victoria Colthurst, Kazuki Shin, Joohyung Kim, “Autonomous Object Model Acquisition with a Robotic Arm,” International Conference on Ubiquitous Robots, June 2023 [paper]
  15. Jason Robinson, Vishakh Shewalker, Isaiah Rigo, Asaiah Rock, Lucy Cinnamon, Daniella Chapman-Rienstra, Jooyoung Hong, Joohyung Kim, and Holly Golecki, “Design of a Custom Sensing and Actuating Cushion for use in Pressure Relief in Wheelchair Users,” Design of Medical Devices Conference, April 2023 [paper]
  16. Kevin Genehyub Gim and Joohyung Kim, ”Implementation of a Large-Scale Biped Robot Using Serial-Parallel Hybrid Leg Mechanism,” International Conference on Ubiquitous Robots, July 2022 [paper, video]
  17. Min Sung Ahn, Hosik Chae, Colin Togashi, Dennis Hong, Joohyung Kim, Sungjoon Choi, “Learning-based Motion Stabilizer Leveraging Offline Temporal Optimization,” International Conference on Ubiquitous Robots, July 2022 [paper]
  18. Jooyoung Hong, Dhruv Mathur, and Joohyung Kim, “Lip-Inspired Passive Jamming Gripper,” IEEE-RAS International Conference on Soft Robotics (RoboSoft), April 2022 [paper, video]
  19. Jonathan Hoff, Nicole Jeon, Patrick Li, and Joohyung Kim, ”Bat Bot 2.0: bioinspired anisotropic skin, passive wrist joints, and redesigned flapping mechanism,” IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2021 [paper, video]
  20. Jonathan Hoff and Joohyung Kim, ”Two-Stage Trajectory Optimization for Flapping Flight with Data-Driven Models,” IEEE International Conference on Robotics and Automation, June 2021 [paper, video]
  21. Sungjoon Choi, Min Jae Song, Hyemin Ahn, and Joohyung Kim, ”Self Supervised Motion Retargeting with Safety Guarantee,” IEEE International Conference on Robotics and Automation, June 2021 [paper, arxiv, video]
  22. Kevin Genehyub Gim and Joohyung Kim, “Snapbot V2: a Reconfigurable Legged Robot with a Camera for Self Configuration Recognition,” IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2020 [paper, video]
  23. Matthew Pan, Sungjoon Choi, Kyna McIntosh, James Kennedy, Daniel Campos Zamora, G¨unter Niemeyer, Joohyung Kim, Alexis Wieland, and David Christensen, ”Realistic and Interactive Robot Gaze,” IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2020 [project, paper, video]
  24. Sungjoon Choi, Matthew Pan, and Joohyung Kim, ”Nonparametric Motion Retargeting for Humanoid Robots on Shared Latent Space,” Robotics: Science and Systems (RSS 2020) [paper, video]
  25. Sungjoon Choi and Joohyung Kim, “Cross-Domain Motion Transfer Via Safety Aware Shared Latent Space Modeling”, IEEE Robotics and Automation Letters (RA-L) with ICRA 2020 option [paper]

Papers before UIUC (~2019)

  1. Sungjoon Choi and Joohyung Kim, ”Towards a Natural Motion Generator: a Pipeline to Control a Humanoid based on Motion Data,” IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019 [project, paper, video]
  2. Sungjoon Choi and Joohyung Kim, ”Trajectory-based Probabilistic Policy Gradient for Learning Locomotion Behaviors,” IEEE International Conference on Robotics and Automation, 2019 [project, paper, video]
  3. Eric Sebastian Sanchez, Daniel Campos Zamora, and Joohyung Kim, ”Development of Airbag Fabrication Machine and Process for Physical Human Machine Interaction,” IEEE-RAS International Conference on Soft Robotics (RoboSoft), 2019 [paper]
  4. Kevin Genehyub Gim, Joohyung Kim, and Katsu Yamane, ”Design and Fabrication of a Bipedal Robot using Serial-Parallel Hybrid Leg Mechanism,” IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2018 [project, paper, video]
  5. Sehoon Ha, Stelian Coros, Alexander Alspach, James Bern, Joohyung Kim, and Katsu Yamane, ”Computational Design of Robotic Devices from High Level Motion Specifications,” IEEE Transactions on Robotics, 2018 [project, paper, video]
  6. Sehoon Ha, Joohyung Kim, and Katsu Yamane, ”Automated Deep Reinforcement Learning Environment for Hardware of a Modular Legged Robot,” International Conference on Ubiquitous Robots, June 2018 [project, paper, video]
  7. Kevin Genehyub Gim, Joohyung Kim, and Katsu Yamane, ”Design of a Serial- Parallel Hybrid Leg for a Humanoid Robot ,” IEEE International Conference on Robotics and Automation, May 2018 [paper, video]
  8. Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, and Katsu Yamane, ”Computational Co-Optimization of Design Parameters and Motion Trajectories for Robotic Systems,” International Journal of Robotics Research, 2018 [project, paper, video]
  9. C. G. Atkeson, B. P. W. Babu, N. Banerjee, D. Berenson, C. P. Bove, X. Cui, M. DeDonato, R. Du, S. Feng, P. Franklin, M. Gennert, J. P. Graff, P. He, A. Jaeger, J. Kim, K. Knoedler, L. Li, C. Liu, X. Long, T. Padir, F. Polido, G. G. Tighe, X. Xinjilef, “What Happened at the DARPA Robotics Challenge Finals,” in The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue, Springer Tracts in Advanced Robotics, vol 121, 2018 [paper, book]
  10. Alexander Alspach, Joohyung Kim, and Katsu Yamane, ”Design and Fabrication of a Soft Robotic Hand and Arm System,” IEEE-RAS International Conference on Soft Robotics (RoboSoft), April 2018 [project, paper, video]
  11. Joohyung Kim, Alexander Alspach, and Katsu Yamane, ”Snapbot: a Reconfigurable Legged Robot,” IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2017 [project, paper, video]
  12. Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, and Katsu Yamane, ”Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem,” Robotics: Science and Systems (RSS 2017), (Best Paper Award Finalist) [project, paper, video]
  13. Siyuan Feng, X Xinjilefu, Christopher G. Atkeson, and Joohyung Kim, ”Robust Dynamic Walking Using Online Foot Step Optimization,” IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2016 [paper]
  14. Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, and Katsu Yamane, ”Task-based Limb Optimization for Legged Robots,” IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2016 [project, paper]
  15. Zachary Batts, Joohyung Kim, and Katsu Yamane, ”Untethered One-Legged Hopping in 3D Using Linear Elastic Actuator in Parallel (LEAP),” International Symposium on Experimental Robotics (ISER 2016), October 2016 [project, paper, video]
  16. Joohyung Kim, Alexander Alspach, and Katsu Yamane, ”Study of Children’s Hugging for Interactive Robot Design,” IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), August 2016 [project, paper]
  17. Priyanshu Agarwal, Samer Al Moubayed, Alexander Alspach, Joohyung Kim, Elizabeth Carter, Jill Lehman, Katsu Yamane, ”Imitating Human Movement with Teleoperated Robotic Head,” IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), August 2016, (Best Paper in Technical Category) [project, paper]
  18. Mathew DeDonato, Felipe Polido, Kevin Knoedler, Benzun P. W. Babu, Nandan Banerjee, Christoper P. Bove, Xiongyi Cui, Ruixiang Du, Perry Franklin, Joshua P. Graff, Peng He, Aaron Jaeger, Lening Li, Dmitry Berenson, Michael A. Gennert, Siyuan Feng, Chenggang Liu, X Xinjilefu, Joohyung Kim, Christopher G. Atkeson, Xianchao Long, Tas¸kın Padırr, ”Team WPI-CMU: Achieving Reliable Humanoid Behavior in the DARPA Robotics Challenge,” Journal of Field Robotics, online, DOI: 10.1002/rob.21685 [paper]
  19. Zachary Batts, Joohyung Kim, and Katsu Yamane, ”Design of a Hopping Mechanism Using a Voice Coil Actuator: Linear Elastic Actuator in Parallel (LEAP),” IEEE International Conference on Robotics and Automation, May 2016 [project, paper]
  20. Alexander Alspach, Joohyung Kim, and Katsu Yamane, ”Design of a Soft Upper Body Robot for Physical Human-Robot Interaction,” IEEE-RAS International Conference on Humanoid Robots, November 2015 (Best Oral Paper Finalists) [project, paper, video]
  21. Siyuan Feng, X Xinjilefu, Christopher G. Atkeson and Joohyung Kim, ”Optimization Based Controller Design and Implementation for the Atlas Robot in the DARPA Robotics Challenge Finals,” IEEE-RAS International Conference on Humanoid Robots, November 2015 [paper, video]
  22. C. G. Atkeson, B. P. W. Babu, N. Banerjee, D. Berenson, C. P. Bove, X. Cui, M. DeDonato, R. Duy, S. Feng, P. Franklin, M. Gennert, J. P. Graff, P. He, A. Jaeger, J. Kim, K. Knoedler, L. Li, C. Liu, X. Long, T. Padir, F. Polido, G. G. Tighe, X. Xinjilefu, ”NO FALLS, NO RESETS: Reliable Humanoid Behavior in the DARPA Robotics Challenge,” IEEE-RAS International Conference on Humanoid Robots, November 2015 [paper]
  23. Joohyung Kim, Alexander Alspach, and Katsu Yamane, ”3D Printed Soft Skin for Safe Human-Robot Interaction,” IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2015 (Best Application Paper Finalists) [project, paper, video]
  24. Seungmoon Song, Joohyung Kim, and Katsu Yamane, ”Development of a Bipedal Robot that Walks Like an Animation Character,” IEEE International Conference on Robotics and Automation, May 2015 [project, paper, video]
  25. Joohyung Kim, Chong-Ho Choi, and Mark W. Spong, ”Passive Dynamic Walking with Knee and Fixed Flat Feet,” IEEE International Conference on Systems, Man, and Cybernetics, October 2012 [paper]
  26. Joohyung Kim, Keehong Seo, HoSeong Kwak, Minhyung Lee, Bokman Lim, Jusuk Lee, and Kyungsik Roh, ”Balancing Control of a Biped Robot,” IEEE International Conference on Systems, Man, and Cybernetics, October 2012 [paper]
  27. Joohyung Kim, Younbaek Lee, Sung-gu Kwon, Keehong Seo,HoSeong Kwak, Heekuk Lee, and Kyungsik Roh, ”Development of the Lower Limbs for a Humanoid Robot,” IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2012 [paper]
  28. Keehong Seo, Joohyung Kim, and Kyungshik Roh, ”Towards Natural Bipedal Walking: Virtual Gravity Compensation and Capture Point Control,” IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2012 [paper]
  29. Bokman Lim, Jusuk Lee, Joohyung Kim, Minhyung Lee, Hoseong Kwak,Sunggu Kwon, Heekuk Lee, and Kyungshik Roh, ”Optimal Gait Primitives for Dynamic Bipedal Locomotion,” IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2012 [paper]
  30. Joohyung Kim, Keehong Seo, Minhyung Lee, Bokman Lim, Jusuk Lee, and Kyungsik Roh, ”Balancing and Walking Control for a Torque-controlled Humanoid Robot,” DynamicWalking Conference, 2012
  31. Bokman Lim, Minhyung Lee, Joohyung Kim, Jusuk Lee, Jaeho Park, Keehong Seo, and Kyungshik Roh, ”Control Design to Achieve Dynamic Walking on a Bipedal Robot with Compliance,” IEEE International Conference on Robotics and Automation, May, 2012 [paper]
  32. Chan-Soo Park, Taesin Ha, Joohyung Kim, and Chong-Ho Choi, ”Trajectory Generation and Control for a Biped Robot Walking Upstairs,” International Journal of Control, Automation, and Systems, vol.8 No.2, pp. 339-351, 2010 [paper]
  33. Joohyung Kim, Chong-Ho Choi, and Mark W. Spong, ”Passive Dynamic Walking with Symmetric Fixed Flat Feet,” IEEE International Conference on Control and Automation, June 2007 [paper]
  34. Taesin Ha, Joohyung Kim, and Chong-Ho Choi, ”Frontal Plane Motion with Pelvis and Waist Joint Rotations in Bipedal Walking,” International Conference on Control, Automation and Systems, June 2005 [paper]

Patents

  1. “Computational design of robots from high-level task specifications,” Sehoon Ha, Alexander Nicholas Alspach, Joohyung Kim, Katsu Yamane, Stelian Coros, granted as US 10248085 B2
  2. ”Parallel elastic mechanism for robot-environment force interaction,” Joohyung Kim, Katsu Yamane, Zachary Batts, granted as US 10116196 B2
  3. ”Soft body robot for physical interaction with humans,” Katsu Yamane, Joohyung Kim, Alexander Alspach, granted as US 9802314 B2
  4. ”Support module and robot having the same,” Joohyung Kim, Kyung Shik Roh, Kee Hong Seo, granted as US 9452797 B2
  5. ”Method for developing and controlling a robot to have movements matching an animation character,” Joohyung Kim, Katsu Yamane, Seungmoon Song, granted as US 9427868 B1
  6.  ”Walking robot and control method thereof,” Joohyung Kim, Kee Hong Seo, Kyung Shik Roh, Jae Ho Park, granted as US 9104207 B2
  7. ”Balance control apparatus of robot and control method thereof,” Kee Hong Seo, Joohyung Kim, Kyung Shik Roh, granted as US 9334002 B2
  8. ”Robot and control method thereof,” Kee Hong Seo, Joohyung Kim, Kyung Shik Roh, granted as US 8855821 B2
  9. ”Humanoid robot and walking control method thereof,”Woong Kwon, Joong Kyung Park, Ju Suk Lee, Chang Hyun Roh, Min Hyung Lee, Jae Ho Park, Joohyung Kim, Ho Seong Kwak, granted as US 8676381 B2
  10. ”Walking robot and control method thereof,” Ho Seong Kwak, Kyung Shik Roh, Woong Kwon, Min Hyung Lee, Joohyung Kim, granted as US 8874263 B2
  11. ”Walking robot and control method thereof,” Jae Ho Park, Kyung Shik Roh, Woong Kwon, Joohyung Kim, Ju Suk LEE, granted as US 9376151 B2