Research

Research Interests

Human-Robot Interaction
Human Behavioral Modeling
Optimal Control Theory
Autonomous Robotics

Current Projects

Please check MICO lab's website for Lab updates. [Link]
Fetch Mobile Robot: Human-Robot Co-Transportation:

Developed an optimal control framework for human-robot co-transportation, ensuring safety and stability.
Modeled human behavioral and perception uncertainty toward multiple options for efficient collaboration.
Optimized robotic arm (7-DOF) joint angle selection using a deep learning method to enhance task efficiency and avoid potential singularities.
Developed a unified framework for mutual adaptation between humans and robots under uncertainties.
Implemented algorithms in robot hardware (Fetch Mobile Manipulator).

ICRA 2024

We presented our research project, "Human-Robot Co-Transportation with Human Uncertainty-Aware MPC and Pose Optimization," at ICRA 2024, Yokohama, Japan, in a workshop on Human-Robot Co-Manipulation. Our poster was selected as the Best Poster Finalist.

IROS 2023

I had the opportunity to present our latest research project titled "Mitigating Human Uncertainties in Human-Robot Collaborative Transportation with Whole-Body Dynamics" at the IROS 2023 conference in Michigan, USA. Our work was featured as a 'Late Breaking Results' presentation, and we had the privilege of showcasing it through both a poster session and an oral presentation.

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