PUBLICATIONS

2025

Seunghwa Oh, Woosung Lim, Joonyoung Kim, Taewoong Kang, Seung-Joon Yi and Jungwon Seo. "Dynamic Self-Righting of Planar-Based Objects on Dual Supports and its Implications for Robotic Object Placement" in IEEE Robotics and Automation Letters, vol. 10, no. 10, pp. 10194-10201, Oct. 2025

Shady Nasrat, Minseong Jo, Seonil Lee and Seung-Joon Yi . "Dynamic RDMM: Scalable, Controllable Dataset Generation for Instruction-Grounded Robot Learning" HUMANOIDS 2025 (accepted)

Taewoong Kang, Joonyoung Kim, Shady Nasrat, Dongwoon Song, gijae ahn, Minseong Jo, Seonil Lee and Seung-Joon Yi "ANUBIS: a Compact, Low-Cost, Compliant Humanoid Mobile Manipulation Robot" HUMANOIDS 2025 (accepted)

Dongwoon Song, Taewoong Kang, Shady Nasrat, Joonyoung Kim, Minseong Jo, Gijae Ahn, Seonil Lee, Seung-Joon Yi "Lucio at RoboCup@Home: Competition-Validated Open-Hardware Mobile Manipulator with Modular Software and On-Device LLM Planning" HUMANOIDS 2025 (accepted)

Jae-Bong Yi, Shady Nasrat, Dongwoon Song, Joonyoung Kim, and Seung-Joon Yi . "Multi-Robot System for Cooperative Tidying Up with Mobile Manipulators and Transport Agent " Sensors 25, no. 11: 3269.

Taewoong Kang, Joonyoung Kim, Seung-Hwa Oh, Seung-Joon Yi, and Jungwon Seo. "Dexterous Ungrasping Manipulation in Three Dimensions" ICRA 2025.

Shady Nasrat, Seung-Joon Yi. "PICaSo: Enabling Multi-User Collaborative Art Creation through Human-Robot Interaction Using Physical Inpainting" Arts in Robotics - ICRA 2025.

2024

Shady Nasrat, Yi, Jae-Bong Yi, Min-seong Jo, and Seung-Joon Yi. "PICaSo: A Collaborative Robotics System for Inpainting on PhysicalCanvas using Marker and Eraser " IROS 2024.

Joonyoung Kim, Taewoong Kang, Dongwoon Song, Gijae Ahn and Seung-Joon Yi. "Development of Dual - Arm Human Companion Robots That can Dance " Sensors 24, no. 24: 6704.

2023

Jae-Bong Yi, Shady Nasrat, Min-seong Jo, and Seung-Joon Yi. "A Software Platform for Quadruped Robots with Advanced Manipulation Capabilities" Sensors 23, no. 19: 8247.

Shady Nasrat, Taewoong Kang, Jinwoo Park, Joonyoung Kim, and Seung-Joon Yi. "Artistic Robotic Arm: Drawing Portraits on Physical Canvas under 80 Seconds" Sensors 23, no. 12: 5589.

2022

Jae-Bong Yi, Joonyoung Kim, Taewoong Kang, Dongwoon Song, Jinwoo Park, and Seung-Joon Yi. "Anthropomorphic Grasping of Complex-Shaped Objects Using Imitation Learning", Applied Sciences 12, no. 24: 12861.

Taewoong Kang, Dongwoon Song, Jae-Bong Yi, Joonyoung Kim, Chung-Yeon Lee, Youngjae Yoo, Minji Kim, Hyun-Jun Jo, Byoung-Tak Zhang, Jaebok Song & Seung-Joon Yi "Team Tidyboy at the WRS 2020: a modular software framework for home service robots", Advanced Robotics, 36:17-18, 836-849.

Dongwoon Song, Jae-Bong Yi and Seung-Joon Yi, "Development of an Efficient 3D Object Recognition Algorithm for Robotic Grasping in Cluttered Environments", The Journal of Korea Robotics Society, 17(3), 255-263. Best Paper Award

Le Bao, Dongeon Kim, Seung-Joon Yi and Jangmyung Lee, "Design of a Sliding Mode Controller with Fuzzy Rules for a 4-DoF Service Robot", International Journal of Control, Automation, and Systems, 19(8), 2869-2881.

2021

T. Kang, J. Kim, D. Song, T. Kim and S. -J. Yi, "Design and Control of a Service Robot with Modular Cargo Spaces," 2021 18th International Conference on Ubiquitous Robots (UR), Gangneung, Korea (South), 2021, pp. 595-600.

M. Kim, T. Kang, D. Song and S. -J. Yi, "Development of a Small-Sized Intelligent Home Service Robot," 2021 18th International Conference on Ubiquitous Robots (UR), Gangneung, Korea (South), 2021, pp. 565-570

J. Kim, T. Kang, D. Song and S. -J. Yi, "PAWDQ: A 3D Printed, Open Source, Low Cost Dynamic Quadruped," 2021 18th International Conference on Ubiquitous Robots (UR), Gangneung, Korea (South), 2021, pp. 217-222

Dongwoon Song, Taewoong Kang, Jaebong Yi, Joonyoung Kim, Taeyang Kim, Chung-Yeon Lee, Je-Hwan Ryu, Minji Kim, HyunJun Jo, Byoung-Tak Zhang, Jae-bok Song and Seung-Joon Yi . "RoboCup@Home 2021 Domestic Standard Platform League Winner".RoboCup 2021: Robot World Cup XXIV, pp. 291-301

Joonyoung Kim, Taewoong Kang, Dongwoon Song, and Seung-Joon Yi. "Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot" Applied Sciences 11, no. 9: 3762.

Taewoong Kang, Jae-Bong Yi, Dongwoon Song, and Seung-Joon Yi. "High-Speed Autonomous Robotic Assembly Using In-Hand Manipulation and Re-Grasping" Applied Sciences 11, no. 1: 37.

2020

Jae-Bong Yi, Taewoong Kang, Dongwoon Song, and Seung-Joon Yi. "Unified Software Platform for Intelligent Home Service Robots" Applied Sciences 10, no. 17: 5874.
Jae-Bong Yi, Sangrok Jin, and Seung-Joon Yi, “Development of a Robotic Surgery System Using General Purpose Robotic Arm and Modular Haptic Controller.” Journal of Korea Robotics Society, vol. 15, no. 2. The Korea Robotics Society, pp. 131–138

~2019

J. -B. Yi and S. -J. Yi, "Mobile Manipulation for the HSR Intelligent Home Service Robot," 2019 16th International Conference on Ubiquitous Robots (UR), Jeju, Korea (South), 2019, pp. 169-173

S. -J. Yi, "Software Framework for an Intelligent Mobile Manipulation Robot," 2018 International Conference on Information and Communication Technology Robotics (ICT-ROBOT), Busan, Korea (South), 2018, pp. 1-4

McGill, S.G., Yi, S.-J., Yi, H., Ahn, M.S., Cho, S., Liu, K., Sun, D., Lee, B., Jeong, H., Huh, J., Hong, D. and Lee, D.D. (2017), "Team THOR's Entry in the DARPA Robotics Challenge Finals 2015". J. Field Robotics, 34: 775-801.

S. -J. Yi and D. D. Lee, "Dynamic heel-strike toe-off walking controller for full-size modular humanoid robots," 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, Mexico, 2016, pp. 395-400,

S. -J. Yi and D. D. Lee, "Heel and toe lifting walk controller for resource constrained humanoid robots," 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea (South), 2016, pp. 5452-5458,

S. G. McGill, Seung-Joon Yi and D. D. Lee, "Low dimensional human preference tracking for motion optimization," 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016, pp. 2867-2872,

Seung-Joon Yi, Byoung-Tak Zhang, Dennis Hong, and Daniel D. Lee , "Whole-Body Balancing Walk Controller for Position Controlled Humanoid Robots," International Journal of Humanoid Robotics, 13 (01), 1650011

SJ Yi, S McGill, D Hong, D Lee, "Hierarchical Motion Control for a Team of Humanoid Soccer Robots", International Journal of Advanced Robotic Systems 13 (1), 1-14

S. -J. Yi, D. Hong and D. D. Lee, "Heel and toe lifting walk controller for traversing uneven terrain," 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul, Korea (South), 2015, pp. 325-330,

S. McGill, S. -J. Yi and D. D. Lee, "Team THOR's adaptive autonomy for disaster response humanoids," 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul, Korea (South), 2015, pp. 453-460,

Yi, S.-J., McGill, S.G., Vadakedathu, L., He, Q., Ha, I., Han, J., Song, H., Rouleau, M., Zhang, B.-T., Hong, D., Yim, M. and Lee, D.D. (2015), "Team THOR's Entry in the DARPA Robotics Challenge Trials 2013". J. Field Robotics, 32: 315-335.

Seung-Joon Yi, Stephen McGill, Heejin Jeong, Jinwook Huh, Marcell Missura, Hak Yi, Min Sung Ahn, Sanghyun Cho, Kevin Liu, Dennis Hong, Daniel D Lee , "Robocup 2015 humanoid adultsize league winner " RoboCup 2015: Robot World Cup XIX 19, 132-143

Seung-Joon Yi, Stephen McGill, Larry Vadakedathu, Qin He, Inyong Ha, Jeakwon Han, Hyunjong Song, Michael Rouleau, Dennis Hong, Daniel D Lee , "Thor-op humanoid robot for darpa robotics challenge trials 2013 ", 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Kuala Lumpur, Malaysia, 2014, pp. 359-363

S. -J. Yi et al., "Modular low-cost humanoid platform for disaster response," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, 2014, pp. 965-972

Seung-Joon Yi, Steve McGill, Qin He, Dennis Hong, D Lee, "Walk and kick motion generation for a general purpose full sized humanoid robot", Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, 2012.

McGill, S.G., Yi, SJ., Zhang, Y., Lee, D.D. (2014). "Extensions of a RoboCup Soccer Software Framework." RoboCup 2013: Robot World Cup XVII. RoboCup 2013. Lecture Notes in Computer Science(), vol 8371. Springer, Berlin, Heidelberg

DD Lee, SJ Yi, SG McGill, Y Zhang, L Vadakedathu, S Brahmbhatt, ..., "RoboCup 2013 Humanoid Kidsize League Winner", RoboCup 2013: Robot World Cup XVII 17, 49-55, 2014

SJ Yi, D Hong, DD Lee, "A hybrid walk controller for resource-constrained humanoid robots", 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, GA, USA, 2013, pp. 88-93,

SJ Yi, S McGill, DD Lee, "Improved Online Kick Generation Method for Humanoid Soccer Robots," 8th workshop of humanoid soccer robots, Humanoids Conference 2013

SJ Yi, BT Zhang, D Hong, DD Lee, "Online learning of low dimensional strategies for high-level push recovery in bipedal humanoid robots," 2013 IEEE International Conference on Robotics and Automation, 1649-1655

SG McGill, Y Zhang, L Vadakedathu, A Sreekumar, SJ Yi, DD Lee, "Comparison of Obstacle Avoidance Behaviors for a Humanoid Robot in Real and Simulated Environments", 7th workshop of humanoid soccer robots, Humanoids 2012

S. -J. Yi, S. G. McGill, B. -T. Zhang, D. Hong and D. D. Lee, "Active stabilization of a humanoid robot for real-time imitation of a human operator," 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, 2012, pp. 761-766,

S. -J. Yi, B. -T. Zhang, D. Hong and D. D. Lee, "Active stabilization of a humanoid robot for impact motions with unknown reaction forces," 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura-Algarve, Portugal, 2012, pp. 4034-4039,

DD Lee, SJ Yi, S McGill, Y Zhang, S Behnke, M Missura, H Schulz, ..., "Robocup 2011 humanoid league winners", RoboCup 2011: Robot Soccer World Cup XV 15, 37-50, 2012

SJ Yi, BT Zhang, D Hong, DD Lee, "Online learning of a full body push recovery controller for omnidirectional walking," 2011 11th IEEE-RAS International Conference on Humanoid Robots, 1-61, 2011

S. -J. Yi, B. -T. Zhang, D. Hong and D. D. Lee, "Practical bipedal walking control on uneven terrain using surface learning and push recovery," 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, 2011, pp. 3963-3968,

SJ Yi, BT Zhang, D Hong, DD Lee, "Learning full body push recovery control for small humanoid robots", 2011 IEEE International Conference on Robotics and Automation, 2047-2052

SG McGill, J Brindza, SJ Yi, DD Lee, "Unified humanoid robotics software platform", The 5th Workshop on Humanoid Soccer Robots, 2010

Yi, S. J., Zhang, B. T., & Lee, D. (2010). "Online Learning of Uneven Terrain for Humanoid Bipedal Walking." Proceedings of the AAAI Conference on Artificial Intelligence, 24(1), 1639-1644.

P Vernaza, DD Lee, SJ Yi, "Learning and planning high-dimensional physical trajectories via structured Lagrangians," 2010 IEEE International Conference on Robotics and Automation, 846-852

SK Lee, SJ Yi, BT Zhang, "Combining information-based supervised and unsupervised feature selection", Feature Extraction: Foundations and Applications, 489-498,2006

SJ Yi, BT Zhang, "Small World Network Based World Representation for Scalable Reinforcement Learning", Workshop on Rich Representations for Reinforcement Learning, 63, 2005

Page updated

Google Sites

Report abuse