Publications/Patents

[J] J. Sung, H. M. Joe* , "Robot Manipulator based on a Wire-Driven Variable Link Mechanism to Control Workspace", International Journal of Control, Automation and Systems, 23(1), 223-234, 2025.

[c] H. Lee, H. M. Joe*, "Performance Analysis of Learning-Based Contact Force Controllers Mimicking Admittance Control" KRoC 2025.

[c] M. Park, H. M. Joe*, "Vision Sensor based Pose Estimation for Object Tracking Control of Mobile Crane" KRoC 2025.

[c] S. Mun, H.Kwon, H. M. Joe*, "Design of Power Transmission Mechanism for a Robotic Gripper Using Twisted String Actuator" ICROS 2025. 

[c] J. D. Lee, H. M. Joe*, "Stable Walking Pattern Generation for Humanoid Robot Using Learning-Based Model Predictive Control" ICROS 2025. 

[c] H. Lee, H.Kwon, H. M. Joe*, "Deep Neural Network-Based Contact Force Control of Robotic Leg" Dynamic Walking 2025.

[J] H. Kwon, S. Kim, H. M. Joe* , "Learning-Based Force Control of Twisted String Actuators Using a Neural Network-Based Inverse Model", IEEE Robotics and Automation Letters, 9(9), 8170-8177, 2024.

[J] O. Kang, J. Yun, S. Seo, H. M. Joe, H. Yi, S. Lee*, "A Novel Design of Unpowered Exoskeleton for Loaded Walking Using Only Hip Abduction Torque", IEEE/ASME Transactions on Mechatronics, 29(4), 2534-2544 , 2024.

[J] D. Baek, H. M. Joe*, "DC Motor Current Control Based on Inverse Model Using Recurrent Neural Network ", Journal of Institute of Control, Robotics and Systems, 30(1), 27-32, 2024.

[J] S. Park, H. M. Joe*, "CNN-based Fall Detection Model for Humanoid Robots", Journal of Sensor Science and Technology, 33(1), 18-23, 2024.

[c] H. Kwon, J. D. Lee, H. M. Joe*, "Optimal Walking Pattern Generation of Biped Walking Robot Using an Inverted Pendulum Model with Variable Center of Mass Height" KSME 2024. 

[c] J. D. Lee, H. Kwon, H. M. Joe*, "Design of a Humanoid foot considering Ground Reaction Force" KSME 2024. 

[c] J. D. Lee, H. Kwon, K. Lee, H. M. Joe*, "Design of a Soft Material Foot for Humanoid Robot to Reduce Ground Reaction Force" IROS 2024. 

[c] J. D. Lee, H. M. Joe*, "Design of Humanoid Robot foot to Absorb Ground Reaction Force by Mimicking Longitudinal Arch and Transverse Arch of Human Foot" ICRA 2024. 

[c] Y. Jung, J. Sung, D. Baek, J. W. Lee, H. M. Joe*, "A Method for Selecting Joint Gains to Improve the Performance of a Reinforcement Learning-based Controller for Bipedal Walking Robots" KSPE 2024. 

[c] J. Sung, H. M. Joe*, " Hybrid Position and Current Control Method of Motor for Maintaining Tension in Tendon-Driven Actuators" ICROS 2024. 

[c] D. Baek, Y. Jung, J. Sung, H. M. Joe*, "Contact Force Control for NARX-based Collaborative Robots" ICROS 2024. 

[c] J. W. Lee, J. Sung, D. Baek, Y. Jung, J. D. Lee, H. M. Joe*, "Methodology for Testing the Gripping Force Performance of Industrial Electric Parallel Two-Finger Grippers" KRoC 2024.

[J] J. D. Lee, H. M. Joe*, "Design of Robot Foot to Absorb Ground Reaction Force by Mimicking Longitudinal Arch and Transverse Arch of Human Foot", International Journal of Control, Automation and Systems, 21 (11), 3519-3527 , 2023.

[J] S. Park, H. M. Joe*,"Path Tracking Control of Mecanum-Wheeled Mobile Robot ", Journal of Institute of Control, Robotics and Systems, 29(9), 734-739, 2023.

[c] J. D. Lee, D. Baek, Y. Jung, H. Kwon, S. Park, S. Ha, H. M. Joe*, "Design and Control of Omni-directional Based Logistics Transport Robot Capable of Physical Interaction", Korea Robotics Society Annual Conference (KRoC 2023).

[c] S. Park, S. Ha, H. M. Joe*,"Smart sidewalk blocks and automatic safety fence systems for pedestrian safety", Korea Robotics Society Annual Conference (KRoC 2023). 

[c] S. Park, S. Ha, H. M. Joe*, "Fall Detection of Humanoid Robot Using CNN", ICROS 2023.

[c] J. Sung, J. W. Lee, H. M. Joe*, "Variable Link Mechanism to Control the Workspace and Size of Robot Manipulator", ICROS 2023.

[c] D. Baek, H. Kwon, Y. Jung, H. M. Joe*, "DC Motor Current Control based on Inverse Model using Elman Neural Network ", ICROS 2023.

[c] J. D. Lee, H. M. Joe*, "Design of Robotic Foot Mimicking Longitudinal Arch and Transverse Arch of Human Foot for Absorption of Ground Reaction Force ", ICROS 2023.

[c] H. Kwon, H. M. Joe*, "Learning-Based Force Control of a Twisted String Actuator", 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[c] H. Kwon, H. M. Joe*, “Analysis of the Performance of a Hybrid Gripper With Soft Fingertips”, Korea Robotics Society Annual Conference (KRoC 2022), May 2022.

[J] H. M. Joe*, J. Lee & J. H. Oh. “Dynamic Nonprehensile Manipulation of a Moving Object Using a Batting Primitive”, Applied Sciences, 11(9), 3920, 2021.

[J] J. Yun, O. Kang & H.M. Joe*. “Design of a Payload Adjustment Device for an Unpowered Lower Limb Exoskeleton”, Sensors,  21(12), 4037, 2021.

[J] H. M. Joe*,"Biped Walking Pattern Generator for Physical Interaction between Humanoid Robot and Human", Journal of Institute of Control, Robotics and Systems, 27(9), 668-675, 2021.

[J] H. M. Joe and J. H. Oh*, “A robust balance-control framework for the terrain-blind bipedal walking of a humanoid robot on unknown and uneven terrain”, Sensors, 19(19), 4194, 2019.

[c] H. Bae, J. Oh, H. M. Joe, J. H. Oh*, “Biped Robot Pelvis Kinematics Estimation based on the Touch-Point Updating Method”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.  

[J] H. M. Joe and J. H. Oh*, “Balance recovery through model predictive control based on capture point dynamics for biped walking robot”, Robotics and Autonomous Systems, 105, 1-10, 2018.

[c] H. M. Joe, H. Bae, H. Jung, J. H. Oh*, “Design of Feedforward Controller to Compensate the Structural Deflection of Biped Walking Robot”, Korea Robotics Society Annual Conference (KRoC 2018), Jan 2018.

[J] Jung, T., Lim, J., Bae, H., Lee, K. K., Joe, H. M., & Oh, J. H.*, "Development of the humanoid disaster response platform DRC-HUBO+", IEEE Transactions on Robotics, 34(1), 1-17, 2018. 

[c] H. M. Joe, J. H. Oh.*, “Online Walking Pattern Generation through Model Predictive Control of Capture Point”, The 2017 World Congress on Advanced in Nano, Bio, Robotics and Energy (ANBRE17), Aug 2017.

[c] J. Lim, I. Lee, I. Shim, H. Jung, H. M. Joe, H. Bae, ... & K. Joo, “Robot system of DRC‐HUBO+ and control strategy of team KAIST in DARPA Robotics Challenge Finals”, Journal of Field Robotics, 34(4), 802-829, 2017.

[c] J. Lim, I. Shim, O. Sim, H. M. Joe, I. Kim, J. Lee, & J. H. Oh.*, “Robotic software system for the disaster circumstances: System of team kaist in the darpa robotics challenge finals”, In Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on (pp. 1161-1166), October 2015.

• Learning-Based Current Control of Geared DC Motor Using a Deep Neural Network, Registration No. 10-2697261 

• Wire-based variable link robot manipulator, PCT/KR2024/001753

• Active Posture Correction System and Method Thereof, Registration No. 10-2594952

• Smart Safty Fence System 10-2023-0005993

• Wire-based variable  robot manipulator, 10-2023-0018624

• Omnidirectional based Logistics Transport Robot capable of physical interaction, 10-2023-0040126

• Crane system for preventing fall and tracking of moving target and control method accordingly, PCT/KR2023/019311

• Crane system for preventing fall and tracking of moving target and control method accordingly, 10-2022-0166067

• Multi Module Gripper, Registration No. 10-2209093.

• Continuous Picking and Transfer Gripper, Registration No.10-2289933