Publications

2026

1. GuideNav: User-Informed Development of a Vision-Only Robotic Navigation Assistant for Blind Travelers

   Hochul Hwang, Soowan Yang, Jahir Sadik Monon, and 4 more authors

   In ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2026

   Bib

   @inproceedings{hwang2026guidenav,
     title = {{GuideNav}: User-Informed Development of a Vision-Only Robotic Navigation Assistant for Blind Travelers},
     author = {Hwang, Hochul and Yang, Soowan and Monon, Jahir Sadik and Giudice, Nicholas A and Lee, Sunghoon Ivan and Biswas, Joydeep and Kim, Donghyun},
     booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
     year = {2026}
   }

2025

1. Human-Centered Development of Guide Dog Robots: Quiet and Stable Locomotion Control

   Shangqun Yu, Hochul Hwang, Trung M Dang, and 4 more authors

   arXiv preprint arXiv:2505.11808, 2025

   arXiv Bib

   @article{yu2025humancentered,
     title = {Human-Centered Development of Guide Dog Robots: Quiet and Stable Locomotion Control},
     author = {Yu, Shangqun and Hwang, Hochul and Dang, Trung M and Biswas, Joydeep and Giudice, Nicholas A and Lee, Sunghoon Ivan and Kim, Donghyun},
     journal = {arXiv preprint arXiv:2505.11808},
     year = {2025},
   }

2. Strong, Accurate, and Low-Cost Robot Manipulator

   Gabriel Chebly, Spencer Little, Nisal Perera, and 3 more authors

   In IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2025

   Bib

   @inproceedings{chebly2025strong,
     title = {Strong, Accurate, and Low-Cost Robot Manipulator},
     author = {Chebly, Gabriel and Little, Spencer and Perera, Nisal and Abedeen, Ayesha and Suzuki, Ken and Kim, Donghyun},
     booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
     year = {2025}
   }

2024

1. Towards Robotic Companions: Understanding Handler-Guide Dog Interactions for Informed Guide Dog Robot Design

   Hochul Hwang, Hee-Tae Jung, Nicholas A Giudice, and 3 more authors

   In Proceedings of the 2024 CHI Conference on Human Factors in Computing Systems, 2024

   Bib

   @inproceedings{hwang2024towards,
     title = {Towards Robotic Companions: Understanding Handler-Guide Dog Interactions for Informed Guide Dog Robot Design},
     author = {Hwang, Hochul and Jung, Hee-Tae and Giudice, Nicholas A and Biswas, Joydeep and Lee, Sunghoon Ivan and Kim, Donghyun},
     booktitle = {Proceedings of the 2024 CHI Conference on Human Factors in Computing Systems},
     year = {2024}
   }

2. Is It Safe to Cross? Interpretable Risk Assessment with GPT-4V for Safety-Aware Street Crossing

   Hochul Hwang, Sunjae Kwon, Yewon Kim, and 1 more author

   In International Conference on Ubiquitous Robots (UR), 2024

   Bib

   @inproceedings{hwang2024safe,
     title = {Is It Safe to Cross? Interpretable Risk Assessment with {GPT-4V} for Safety-Aware Street Crossing},
     author = {Hwang, Hochul and Kwon, Sunjae and Kim, Yewon and Kim, Donghyun},
     booktitle = {International Conference on Ubiquitous Robots (UR)},
     year = {2024}
   }

3. CEAR: Comprehensive Event Camera Dataset for Rapid Perception of Agile Quadruped Robots

   Shifan Zhu, Zhipeng Xiong, and Donghyun Kim

   IEEE Robotics and Automation Letters, 2024

   Bib

   @article{zhu2024cear,
     title = {{CEAR}: Comprehensive Event Camera Dataset for Rapid Perception of Agile Quadruped Robots},
     author = {Zhu, Shifan and Xiong, Zhipeng and Kim, Donghyun},
     journal = {IEEE Robotics and Automation Letters},
     year = {2024}
   }

4. Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains

   Shangqun Yu, Nisal Perera, Daniel Marew, and 1 more author

   In IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024

   Bib

   @inproceedings{yu2024learning,
     title = {Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains},
     author = {Yu, Shangqun and Perera, Nisal and Marew, Daniel and Kim, Donghyun},
     booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
     year = {2024}
   }

5. StaccaToe: A Single-Leg Robot That Mimics the Human Leg and Toe

   Nisal Perera, Shangqun Yu, Daniel Marew, and 5 more authors

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

   Bib

   @inproceedings{perera2024staccatoe,
     title = {{StaccaToe}: A Single-Leg Robot That Mimics the Human Leg and Toe},
     author = {Perera, Nisal and Yu, Shangqun and Marew, Daniel and Tang, Mack and Suzuki, Ken and McCormack, Amelia and Zhu, Shifan and others},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2024}
   }

6. A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots

   Daniel Marew, Nisal Perera, Shangqun Yu, and 2 more authors

   In IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024

   Bib

   @inproceedings{marew2024biomechanics,
     title = {A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots},
     author = {Marew, Daniel and Perera, Nisal and Yu, Shangqun and Roelker, Sarah and Kim, Donghyun},
     booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
     year = {2024}
   }

7. Lessons Learned from Developing a Human-Centered Guide Dog Robot for Mobility Assistance

   Hochul Hwang, Ken Suzuki, Nicholas A Giudice, and 3 more authors

   arXiv preprint arXiv:2409.19778, 2024

   arXiv Bib

   @article{hwang2024lessons,
     title = {Lessons Learned from Developing a Human-Centered Guide Dog Robot for Mobility Assistance},
     author = {Hwang, Hochul and Suzuki, Ken and Giudice, Nicholas A and Biswas, Joydeep and Lee, Sunghoon Ivan and Kim, Donghyun},
     journal = {arXiv preprint arXiv:2409.19778},
     year = {2024},
   }

8. Impedance Matching: Enabling an RL-Based Running Jump in a Quadruped Robot

   Neil Guan, Shangqun Yu, Shifan Zhu, and 1 more author

   In International Conference on Ubiquitous Robots (UR), 2024

   Bib

   @inproceedings{guan2024impedance,
     title = {Impedance Matching: Enabling an {RL}-Based Running Jump in a Quadruped Robot},
     author = {Guan, Neil and Yu, Shangqun and Zhu, Shifan and Kim, Donghyun},
     booktitle = {International Conference on Ubiquitous Robots (UR)},
     year = {2024}
   }

9. Synthetic Data Augmentation for Robotic Mobility Aids to Support Blind and Low Vision People

   Hochul Hwang, Krishna Adhikari, Sourav Shodhaka, and 1 more author

   In International Conference on Robot Intelligence Technology and Applications (RiTA), 2024

   Bib

   @inproceedings{hwang2024synthetic,
     title = {Synthetic Data Augmentation for Robotic Mobility Aids to Support Blind and Low Vision People},
     author = {Hwang, Hochul and Adhikari, Krishna and Shodhaka, Sourav and Kim, Donghyun},
     booktitle = {International Conference on Robot Intelligence Technology and Applications (RiTA)},
     year = {2024}
   }

2023

1. System Configuration and Navigation of a Guide Dog Robot: Toward Animal Guide Dog-Level Guiding Work

   Hochul Hwang, Tim Xia, Ibrahima Keita, and 4 more authors

   In IEEE International Conference on Robotics and Automation (ICRA), 2023

   Bib

   @inproceedings{hwang2023system,
     title = {System Configuration and Navigation of a Guide Dog Robot: Toward Animal Guide Dog-Level Guiding Work},
     author = {Hwang, Hochul and Xia, Tim and Keita, Ibrahima and Suzuki, Ken and Biswas, Joydeep and Lee, Sunghoon Ivan and Kim, Donghyun},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2023}
   }

2. Neuromorphic High-Frequency 3D Dancing Pose Estimation in Dynamic Environment

   Zhongyang Zhang, Kaidong Chai, Haowen Yu, and 5 more authors

   Neurocomputing, 2023

   Bib

   @article{zhang2023neuromorphic,
     title = {Neuromorphic High-Frequency 3D Dancing Pose Estimation in Dynamic Environment},
     author = {Zhang, Zhongyang and Chai, Kaidong and Yu, Haowen and Majaj, Ramzi and Walsh, Francesca and Wang, Edward and Mahbub, Upal and others},
     journal = {Neurocomputing},
     year = {2023}
   }

3. Event Camera-Based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface

   Shifan Zhu, Zixin Tang, Mingcheng Yang, and 2 more authors

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

   Bib

   @inproceedings{zhu2023event,
     title = {Event Camera-Based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface},
     author = {Zhu, Shifan and Tang, Zixin and Yang, Mingcheng and Learned-Miller, Erik and Kim, Donghyun},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2023}
   }

4. Taking the First Step Toward Autonomous Quadruped Robots: The Quadruped Robot Challenge at ICRA 2023 in London

   Adam Jacoff, Jae Jeon, Olly Huke, and 4 more authors

   IEEE Robotics & Automation Magazine, 2023

   Bib

   @article{jacoff2023taking,
     title = {Taking the First Step Toward Autonomous Quadruped Robots: The Quadruped Robot Challenge at {ICRA} 2023 in London},
     author = {Jacoff, Adam and Jeon, Jae and Huke, Olly and Kanoulas, Dimitrios and Ha, Sehoon and Kim, Donghyun and Moon, Hyungpil},
     journal = {IEEE Robotics \& Automation Magazine},
     year = {2023}
   }

5. Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion

   Daniel Marew, Misha Lvovsky, Shangqun Yu, and 2 more authors

   In IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2023

   Bib

   @inproceedings{marew2023integration,
     title = {Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion},
     author = {Marew, Daniel and Lvovsky, Misha and Yu, Shangqun and Sessions, Shane and Kim, Donghyun},
     booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
     year = {2023}
   }

2022

1. Online Optimal Landing Control of the MIT Mini Cheetah

   Se Hwan Jeon, Sangbae Kim, and Donghyun Kim

   In IEEE International Conference on Robotics and Automation (ICRA), 2022

   Bib

   @inproceedings{jeon2022online,
     title = {Online Optimal Landing Control of the {MIT} Mini Cheetah},
     author = {Jeon, Se Hwan and Kim, Sangbae and Kim, Donghyun},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2022}
   }

2. Online Gain Adaptation of Whole-Body Control for Legged Robots with Unknown Disturbances

   Jaemin Lee, Junhyeok Ahn, Donghyun Kim, and 2 more authors

   Frontiers in Robotics and AI, 2022

   Bib

   @article{lee2022online,
     title = {Online Gain Adaptation of Whole-Body Control for Legged Robots with Unknown Disturbances},
     author = {Lee, Jaemin and Ahn, Junhyeok and Kim, Donghyun and Bang, Seung Hyeon and Sentis, Luis},
     journal = {Frontiers in Robotics and AI},
     year = {2022}
   }

3. Compliant Force Sensing System

   Sangbae Kim, Meng Yee Chuah, Leia Epstein, and 2 more authors

   2022

   US Patent 11,300,397

   Bib

   @misc{kim2022compliant,
     title = {Compliant Force Sensing System},
     author = {Kim, Sangbae and Chuah, Meng Yee and Epstein, Leia and Kim, Donghyun and Romero, Justin},
     note = {US Patent 11,300,397},
     year = {2022}
   }

4. Quadruped Robots Venture into the Wild with Open Eyes

   Donghyun Kim

   Science Robotics, 2022

   Bib

   @article{kim2022quadruped,
     title = {Quadruped Robots Venture into the Wild with Open Eyes},
     author = {Kim, Donghyun},
     journal = {Science Robotics},
     year = {2022}
   }

5. Integration of Riemannian Motion Policy and Whole-Body Control for Dynamic Legged Locomotion

   Daniel Marew, Misha Lvovsky, Shangqun Yu, and 2 more authors

   arXiv preprint, 2022

   Bib

   @article{marew2022integration,
     title = {Integration of Riemannian Motion Policy and Whole-Body Control for Dynamic Legged Locomotion},
     author = {Marew, Daniel and Lvovsky, Misha and Yu, Shangqun and Sessions, Shane and Kim, Donghyun},
     journal = {arXiv preprint},
     year = {2022}
   }

2021

1. The MIT Humanoid Robot: Design, Motion Planning, and Control for Acrobatic Behaviors

   Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones, and 1 more author

   In IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2021

   Bib

   @inproceedings{chignoli2021mit,
     title = {The {MIT} Humanoid Robot: Design, Motion Planning, and Control for Acrobatic Behaviors},
     author = {Chignoli, Matthew and Kim, Donghyun and Stanger-Jones, Elijah and Kim, Sangbae},
     booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
     year = {2021}
   }

2. Learning to Jump from Pixels

   Gabriel B Margolis, Tao Chen, Kartik Paigwar, and 4 more authors

   arXiv preprint arXiv:2110.15344, 2021

   arXiv Bib

   @article{margolis2021learning,
     title = {Learning to Jump from Pixels},
     author = {Margolis, Gabriel B and Chen, Tao and Paigwar, Kartik and Fu, Xiang and Kim, Donghyun and Kim, Sangbae and Agrawal, Pulkit},
     journal = {arXiv preprint arXiv:2110.15344},
     year = {2021},
   }

3. Learning Agile Motor Skills on Quadrupedal Robots Using Curriculum Learning

   Zixin Tang, Donghyun Kim, and Sehoon Ha

   In International Conference on Robot Intelligence Technology and Applications (RiTA), 2021

   Bib

   @inproceedings{tang2021learning,
     title = {Learning Agile Motor Skills on Quadrupedal Robots Using Curriculum Learning},
     author = {Tang, Zixin and Kim, Donghyun and Ha, Sehoon},
     booktitle = {International Conference on Robot Intelligence Technology and Applications (RiTA)},
     year = {2021}
   }

4. Knowledge Transfer Across Imaging Modalities via Simultaneous Learning of Adaptive Autoencoders for High-Fidelity Mobile Robot Vision

   Md Mahmudur Rahman, Tauhidur Rahman, Donghyun Kim, and 1 more author

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021

   Bib

   @inproceedings{rahman2021knowledge,
     title = {Knowledge Transfer Across Imaging Modalities via Simultaneous Learning of Adaptive Autoencoders for High-Fidelity Mobile Robot Vision},
     author = {Rahman, Md Mahmudur and Rahman, Tauhidur and Kim, Donghyun and Alam, Mohammad Arif Ul},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2021}
   }

2020

1. Dynamic Locomotion for Passive-Ankle Biped Robots and Humanoids Using Whole-Body Locomotion Control

   Donghyun Kim, Steven Jens Jorgensen, Jaemin Lee, and 3 more authors

   The International Journal of Robotics Research, 2020

   Bib

   @article{kim2020dynamic,
     title = {Dynamic Locomotion for Passive-Ankle Biped Robots and Humanoids Using Whole-Body Locomotion Control},
     author = {Kim, Donghyun and Jorgensen, Steven Jens and Lee, Jaemin and Ahn, Junhyeok and Luo, Jianwen and Sentis, Luis},
     journal = {The International Journal of Robotics Research},
     year = {2020}
   }

2. Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot

   Donghyun Kim, Daniel Carballo, Jared Di Carlo, and 4 more authors

   In IEEE International Conference on Robotics and Automation (ICRA), 2020

   Bib

   @inproceedings{kim2020vision,
     title = {Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot},
     author = {Kim, Donghyun and Carballo, Daniel and Di Carlo, Jared and Katz, Benjamin and Bledt, Gerardo and Lim, Brian and Kim, Sangbae},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2020}
   }

3. Robust Autonomous Navigation of a Small-Scale Quadruped Robot in Real-World Environments

   Thomas Dudzik, Matthew Chignoli, Gerardo Bledt, and 4 more authors

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

   Bib

   @inproceedings{dudzik2020robust,
     title = {Robust Autonomous Navigation of a Small-Scale Quadruped Robot in Real-World Environments},
     author = {Dudzik, Thomas and Chignoli, Matthew and Bledt, Gerardo and Lim, Brian and Miller, Adam and Kim, Donghyun and Kim, Sangbae},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2020}
   }

4. Bi-Modal Hemispherical Sensors for Dynamic Locomotion and Manipulation

   Leia Epstein, Andrew SaLoutos, Donghyun Kim, and 1 more author

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

   Bib

   @inproceedings{epstein2020bimodal,
     title = {Bi-Modal Hemispherical Sensors for Dynamic Locomotion and Manipulation},
     author = {Epstein, Leia and SaLoutos, Andrew and Kim, Donghyun and Kim, Sangbae},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2020}
   }

2019

1. Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control

   Donghyun Kim, Jared Di Carlo, Benjamin Katz, and 2 more authors

   arXiv preprint arXiv:1909.06586, 2019

   arXiv Bib

   @article{kim2019highly,
     title = {Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control},
     author = {Kim, Donghyun and Di Carlo, Jared and Katz, Benjamin and Bledt, Gerardo and Kim, Sangbae},
     journal = {arXiv preprint arXiv:1909.06586},
     year = {2019},
   }

2. Robust Bipedal Locomotion Based on a Hierarchical Control Structure

   Jianwen Luo, Yao Su, Lecheng Ruan, and 4 more authors

   Robotica, 2019

   Bib

   @article{luo2019robust,
     title = {Robust Bipedal Locomotion Based on a Hierarchical Control Structure},
     author = {Luo, Jianwen and Su, Yao and Ruan, Lecheng and Zhao, Ye and Kim, Donghyun and Sentis, Luis and Fu, Chenglong},
     journal = {Robotica},
     year = {2019}
   }

3. Control of a High Performance Bipedal Robot Using Viscoelastic Liquid Cooled Actuators

   Junhyeok Ahn, Donghyun Kim, Seunghyeon Bang, and 2 more authors

   In IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2019

   Bib

   @inproceedings{ahn2019control,
     title = {Control of a High Performance Bipedal Robot Using Viscoelastic Liquid Cooled Actuators},
     author = {Ahn, Junhyeok and Kim, Donghyun and Bang, Seunghyeon and Paine, Nicholas and Sentis, Luis},
     booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
     year = {2019}
   }

4. Bi-Modal Hemispherical Sensor: A Unifying Solution for Three Axis Force and Contact Angle Measurement

   Meng Yee Michael Chuah, Leia Epstein, Donghyun Kim, and 2 more authors

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019

   Bib

   @inproceedings{chuah2019bimodal,
     title = {Bi-Modal Hemispherical Sensor: A Unifying Solution for Three Axis Force and Contact Angle Measurement},
     author = {Chuah, Meng Yee Michael and Epstein, Leia and Kim, Donghyun and Romero, Justin and Kim, Sangbae},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2019}
   }

2018

1. Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints

   Donghyun Kim, Jaemin Lee, Junhyeok Ahn, and 3 more authors

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

   Bib

   @inproceedings{kim2018computationally,
     title = {Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints},
     author = {Kim, Donghyun and Lee, Jaemin and Ahn, Junhyeok and Campbell, Orion and Hwang, Hochul and Sentis, Luis},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2018}
   }

2. Investigations of a Robotic Test Bed with Viscoelastic Liquid Cooled Actuators

   Donghyun Kim, Junhyeok Ahn, Orion Campbell, and 2 more authors

   IEEE/ASME Transactions on Mechatronics, 2018

   Bib

   @article{kim2018investigations,
     title = {Investigations of a Robotic Test Bed with Viscoelastic Liquid Cooled Actuators},
     author = {Kim, Donghyun and Ahn, Junhyeok and Campbell, Orion and Paine, Nicholas and Sentis, Luis},
     journal = {IEEE/ASME Transactions on Mechatronics},
     year = {2018}
   }

3. Control Scheme and Uncertainty Considerations for Dynamic Balancing of Passive-Ankled Bipeds and Full Humanoids

   Donghyun Kim, Steven Jens Jorgensen, Hochul Hwang, and 1 more author

   In IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2018

   Bib

   @inproceedings{kim2018control,
     title = {Control Scheme and Uncertainty Considerations for Dynamic Balancing of Passive-Ankled Bipeds and Full Humanoids},
     author = {Kim, Donghyun and Jorgensen, Steven Jens and Hwang, Hochul and Sentis, Luis},
     booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
     year = {2018}
   }

4. Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles

   Junhyeok Ahn, Orion Campbell, Donghyun Kim, and 1 more author

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

   Bib

   @inproceedings{ahn2018fast,
     title = {Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles},
     author = {Ahn, Junhyeok and Campbell, Orion and Kim, Donghyun and Sentis, Luis},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2018}
   }

2017

1. Locomotion Control of Three Dimensional Passive-Foot Biped Robot Based on Whole Body Operational Space Framework

   Jianwen Luo, Ye Zhao, Donghyun Kim, and 2 more authors

   In IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017

   Bib

   @inproceedings{luo2017locomotion,
     title = {Locomotion Control of Three Dimensional Passive-Foot Biped Robot Based on Whole Body Operational Space Framework},
     author = {Luo, Jianwen and Zhao, Ye and Kim, Donghyun and Khatib, Oussama and Sentis, Luis},
     booktitle = {IEEE International Conference on Robotics and Biomimetics (ROBIO)},
     year = {2017}
   }

2. Investigations of Viscoelastic Liquid Cooled Actuators Applied for Dynamic Motion Control of Legged Systems

   Donghyun Kim, Orion Campbell, Junhyeok Ahn, and 2 more authors

   In IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2017

   Bib

   @inproceedings{kim2017investigations,
     title = {Investigations of Viscoelastic Liquid Cooled Actuators Applied for Dynamic Motion Control of Legged Systems},
     author = {Kim, Donghyun and Campbell, Orion and Ahn, Junhyeok and Sentis, Luis and Paine, Nicholas},
     booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
     year = {2017}
   }

3. Robust Dynamic Locomotion via Reinforcement Learning and Novel Whole Body Controller

   Donghyun Kim, Jaemin Lee, and Luis Sentis

   arXiv preprint arXiv:1708.02205, 2017

   arXiv Bib

   @article{kim2017robust,
     title = {Robust Dynamic Locomotion via Reinforcement Learning and Novel Whole Body Controller},
     author = {Kim, Donghyun and Lee, Jaemin and Sentis, Luis},
     journal = {arXiv preprint arXiv:1708.02205},
     year = {2017},
   }

4. Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical Systems

   Steven Jens Jorgensen, Orion Campbell, Travis Llado, and 3 more authors

   arXiv preprint arXiv:1701.03839, 2017

   arXiv Bib

   @article{jorgensen2017exploring,
     title = {Exploring Model Predictive Control to Generate Optimal Control Policies for {HRI} Dynamical Systems},
     author = {Jorgensen, Steven Jens and Campbell, Orion and Llado, Travis and Kim, Donghyun and Ahn, Junhyeok and Sentis, Luis},
     journal = {arXiv preprint arXiv:1701.03839},
     year = {2017},
   }

5. Sensor-Based Robust Whole-Body Control of Highly Dynamic Legged Humanoid Robots

   Donghyun Kim

   The University of Texas at Austin, 2017

   Bib

   @phdthesis{kim2017sensor,
     title = {Sensor-Based Robust Whole-Body Control of Highly Dynamic Legged Humanoid Robots},
     author = {Kim, Donghyun},
     school = {The University of Texas at Austin},
     year = {2017}
   }

2016

1. Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control

   Donghyun Kim, Ye Zhao, Gray Thomas, and 2 more authors

   IEEE Transactions on Robotics, 2016

   Bib

   @article{kim2016stabilizing,
     title = {Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control},
     author = {Kim, Donghyun and Zhao, Ye and Thomas, Gray and Fernandez, Benito R and Sentis, Luis},
     journal = {IEEE Transactions on Robotics},
     year = {2016}
   }

2. Dynamic Behaviors on the NAO Robot with Closed-Loop Whole Body Operational Space Control

   Donghyun Kim, Steven Jens Jorgensen, Peter Stone, and 1 more author

   In IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2016

   Bib

   @inproceedings{kim2016dynamic,
     title = {Dynamic Behaviors on the {NAO} Robot with Closed-Loop Whole Body Operational Space Control},
     author = {Kim, Donghyun and Jorgensen, Steven Jens and Stone, Peter and Sentis, Luis},
     booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
     year = {2016}
   }

2015

1. A Method for Dynamically Balancing a Point Foot Robot

   Donghyun Kim, Gray Thomas, and Luis Sentis

   In IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2015

   Bib

   @inproceedings{kim2015method,
     title = {A Method for Dynamically Balancing a Point Foot Robot},
     author = {Kim, Donghyun and Thomas, Gray and Sentis, Luis},
     booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
     year = {2015}
   }

2. Hybrid Multi-Contact Dynamics for Wedge Jumping Locomotion Behaviors

   Ye Zhao, Donghyun Kim, Gray Thomas, and 1 more author

   In International Conference on Hybrid Systems: Computation and Control (HSCC), 2015

   Bib

   @inproceedings{zhao2015hybrid,
     title = {Hybrid Multi-Contact Dynamics for Wedge Jumping Locomotion Behaviors},
     author = {Zhao, Ye and Kim, Donghyun and Thomas, Gray and Sentis, Luis},
     booktitle = {International Conference on Hybrid Systems: Computation and Control (HSCC)},
     year = {2015}
   }

2014

1. Continuous Cyclic Stepping on 3D Point-Foot Biped Robots via Constant Time to Velocity Reversal

   Donghyun Kim, Gray Thomas, and Luis Sentis

   In International Conference on Control Automation Robotics & Vision (ICARCV), 2014

   Bib

   @inproceedings{kim2014continuous,
     title = {Continuous Cyclic Stepping on 3D Point-Foot Biped Robots via Constant Time to Velocity Reversal},
     author = {Kim, Donghyun and Thomas, Gray and Sentis, Luis},
     booktitle = {International Conference on Control Automation Robotics \& Vision (ICARCV)},
     year = {2014}
   }

2. Kinematic Feedback Control Laws for Generating Natural Arm Movements

   Donghyun Kim, Cheongjae Jang, and Frank C Park

   Bioinspiration & Biomimetics, 2014

   Bib

   @article{kim2014kinematic,
     title = {Kinematic Feedback Control Laws for Generating Natural Arm Movements},
     author = {Kim, Donghyun and Jang, Cheongjae and Park, Frank C},
     journal = {Bioinspiration \& Biomimetics},
     year = {2014}
   }

3. Empirical Modifications to a Phase Space Planner Which Compensates for Low Stiffness Actuation in a Planar, Point-Foot, Biped Robot

   Donghyun Kim, Ye Zhao, Gray Thomas, and 1 more author

   In Dynamic Systems and Control Conference (DSCC), 2014

   Bib

   @inproceedings{kim2014empirical,
     title = {Empirical Modifications to a Phase Space Planner Which Compensates for Low Stiffness Actuation in a Planar, Point-Foot, Biped Robot},
     author = {Kim, Donghyun and Zhao, Ye and Thomas, Gray and Sentis, Luis},
     booktitle = {Dynamic Systems and Control Conference (DSCC)},
     year = {2014}
   }

2013

1. Phase Space Planning and Robust Control for Data-Driven Locomotion Behaviors

   Ye Zhao, Dong Hyun Kim, Benito Fernandez, and 1 more author

   In IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2013

   Bib

   @inproceedings{zhao2013phase,
     title = {Phase Space Planning and Robust Control for Data-Driven Locomotion Behaviors},
     author = {Zhao, Ye and Kim, Dong Hyun and Fernandez, Benito and Sentis, Luis},
     booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
     year = {2013}
   }