Portfolio

Seungmin Choi

Research Topics

Compliance control (Impedance/Admittance control)
Energy tank-based control (Passivity)
pHRI /pHRC(Physical Human-Robot Interaction/Collaboration)
Whole-body control (Mobile Manipulation)
Optimal control for robotics

Email: min9317love@hanyang.ac.kr

Github: https://github.com/sm3304love

Current Position: Ph.D. student at Hanyang University Harco lab

About Me

I am interested in the field of Physical Human-Robot Interaction/Collaboration (pHRI/pHRC) and am conducting research intending to have humans and robots perform the same tasks simultaneously in the same space in the future. What I consider particularly important is to ensure the safety of humans during PHRI/PHRC by using the redundancy of redundant robots, and to achieve this, I am studying applying compliance control, optimal control, etc.

EDUCATION

B.S. Robotics Engineering

Hanyang University(ERICA) (Mar. 2017 ~ Feb. 2023 )

Department of Convergence Robot system

Hanyang University(Seoul)

Master course (Mar. 2023 ~ 2025)

Department of Robotics

Hanyang University(Seoul)

PhD course (Mar. 2025 ~ present)

SKILLS AND TECHNIQUES

Language

C, C++ (main)
Python
MATLAB

Skills
1. Mobile manipulator whole-body control
2. Compliance control (Impedance/Admittance control)
3. Passivity-based control (via Energy tank)
4. Hierarchical control
5. (Nonlinear) Model predictive control

Platform
1. Manipulator
2. Mobile manipulator

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