Jungwon Seo

Robot Manipulation

Laboratory

A planar circular object resting against a wall and floor can dynamically self-right when perturbed. This behavior—shaped by factors such as contact curvature—offers insights for the following manipulation tasks:

Palm-to-Surface Transfer (left to right)

Full details in our recent paper, "Dynamic Self-Righting of Planar-Based Objects on Dual Supports and its Implications for Robotic Object Placement," IEEE RA-L, Oct 2025. Click the figure for the video.

H I G H L I G H T S

High-Speed Scooping

A rapid technique for picking up thin objects with a direct-drive gripper. One finger slips beneath the object while the other stabilizes, securing a grip in fractions of a second. Even fragile crackers stay intact! Click the figure for the video.

Rock-and-Walk

Our rock-and-walk manipulation (or locomotion) technique can be applied to transporting heavy objects, such as the Moai! Click the figure for the video.

2022 IEEE T-RO King-Sun Fu Memorial Best Paper Honorable Mention

Media coverage on IEEE Spectrum and BBC

Let Go with Dexterity in 2D

This technique enables human-level dexterity in ungrasping tasks, such as the precise placement of Go stones—a task that AlphaGo is unable to perform.

Three videos for three RA-L articles (2019-2022): #1, #2, and #3

IEEE ICRA 2019 Best Paper Award in Robot Manipulation

...and 3D

An extension to three dimensions -- simple puzzle tiling presented in ICRA 2025. Click the figure for the video.

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