Selected Publications
Selected Publications
*: Co-First Authors, **: Co-Corresponding Authors
Embedded Files
2025
2025
Exact Fractional Order Impedance Rendering for Highly Flexible and Multi-Jointed Robots Using Time-Delay Estimation
Tae Ho Yun, Fabian Beck, Min Jun Kim**, and Jinoh Lee**
IEEE Robotics and Automation Letters (RA-L), vol. 10, no. 12, pp. 12891-12898, Dec. 2025.
A Visco-Elastic Actuator with Linear Gas Spring and Variable Damping
Florian C. Loeffl, Fabian Beck, Jinoh Lee, Min Jun Kim, and Manuel Keppler
Mechatronics, Volume 109, August 2025, Article 103334
Enhancing Rating-Based Reinforcement Learning to Effectively Leverage Feedback from Large Vision-Language Models
Tung Minh Luu, Younghwan Lee, Donghoon Lee, Sunho Kim, Min Jun Kim, and Chang D. Yoo
International Conference on Machine Learning (ICML), 2025 (accepted)
2024
2024
Bidirectional Energy Flow Modulation for Passive Admittance Control
Bidirectional Energy Flow Modulation for Passive Admittance Control
Donghyeon Lee, Dongwoo Ko, Min Jun Kim, and Wan Kyun Chung
IEEE Transactions on Robotics (T-RO)
2023
2023
Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based actuation
Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based actuation
Yuri S. Sarkisov, Andre Coelho, Maihara G. Santos, Min Jun Kim, Dzmitry Tsetserukou, Christian Ott, and Konstantin Kondak
IEEE International Conference on Robotics and Automation (ICRA), 2023
2022
2022
A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function
A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function
Jinyeong Jeong, Hrishik Mishra, Christian Ott, and Min Jun Kim
IEEE International Conference on Robotics and Automation (ICRA), 2022
Passive Impedance Control of Robots with Viscoelastic Joints via Inner-loop Torque Control
Passive Impedance Control of Robots with Viscoelastic Joints via Inner-loop Torque Control
Min Jun Kim, Alexander Werner, Florian Loeffl, and Christian Ott
IEEE Transactions on Robotics (T-RO)
2020
2020
Asymptotically stable disturbance observer-based compliance control of electro-hydrostatic actuators
Asymptotically stable disturbance observer-based compliance control of electro-hydrostatic actuators
Woongyong Lee, Min Jun Kim, and Wan Kyun Chung
IEEE/ASME Transactions on Mechatronics (T-Mech)
Compliance Control of Cable-Suspended Aerial Manipulator Using Hierarchical Control Framework
Compliance Control of Cable-Suspended Aerial Manipulator Using Hierarchical Control Framework
Chiara Gabellieri, Yuri S Sarkisov; Andre Coelho, Lucia Pallottino, Konstantin Kondak, and Min Jun Kim
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor
Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor
Yuri S. Sarkisov, Min Jun Kim, Andre Coelho, Dzmitry Tsetserukou, Christian Ott, and Konstantin Kondak
IEEE International Conference on Robotics and Automation (ICRA), 2020
Visual-Inertial Telepresence for Aerial Manipulation
Visual-Inertial Telepresence for Aerial Manipulation
Jongseok Lee, Ribin Balachandran, Yuri S. Sarkisov, Marco De Stefano, Andre Coelho, Kashmira Shinde, Min Jun Kim, Rudolph Triebel, and Konstantin Kondak
IEEE International Conference on Robotics and Automation (ICRA), 2020
2019
2019
Model-free friction observers for flexible joint robots with torque measurements
Model-free friction observers for flexible joint robots with torque measurements
Min Jun Kim, Fabian Beck, Christian Ott, and Alin Albu-Schäffer
IEEE Transactions on Robotics (T-RO)
with presentation at ICRA 2020
Development of SAM: cable-Suspended Aerial Manipulator
Development of SAM: cable-Suspended Aerial Manipulator
Yuri S. Sarkisov*, Min Jun Kim*, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, and Konstantin Kondak (* The authors contributed equally to this work)
IEEE International Conference on Robotics and Automation (ICRA), 2019
A Passivity-Based Nonlinear Admittance Control With Application to Powered Upper-Limb Control Under Unknown Environmental Interactions
A Passivity-Based Nonlinear Admittance Control With Application to Powered Upper-Limb Control Under Unknown Environmental Interactions
Min Jun Kim, Woongyong Lee, Jae Yeon Choi, Goobong Chung, Kyung-Lyong Han, I Seop Choi, Christian Ott, and Wan Kyun Chung
IEEE/ASME Transactions on Mechatronics (T-Mech)
2018
2018
Passive Compliance Control of Aerial Manipulators
Passive Compliance Control of Aerial Manipulators
Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, and Christian Ott
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
A Stabilizing Controller for Regulation of UAV With Manipulator
A Stabilizing Controller for Regulation of UAV With Manipulator
Min Jun Kim, Konstantin Kondak, and Christian Ott
IEEE Robotics and Automation Letters (RA-L)
with presentation at ICRA 2018
2017
2017
Disturbance-observer-based PD control of electro-hydrostatically actuated flexible joint robots
Disturbance-observer-based PD control of electro-hydrostatically actuated flexible joint robots
Woongyong Lee, Min Jun Kim, and Wan Kyun Chung
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
Enhancing joint torque control of series elastic actuators with physical damping
Enhancing joint torque control of series elastic actuators with physical damping
Min Jun Kim, Alexander Werner, Florian Christoph Loeffl, and Christian Ott
IEEE International Conference on Robotics and Automation (ICRA), 2017
W. Lee, M. J. Kim, and W. K. Chung, "Joint torque servo control of electro-hydrostatic actuators for high torque-to-weight ratio robot control", IEEE/RSJ IROS 2016
M. J. Kim, W. Lee, C. Ott, and W. K. Chung, "A passivity-based admittance control design using feedback interconnections", IEEE/RSJ IROS 2016
W. Lee, M. J. Kim, and W. K. Chung, "Model-free joint torque control strategy for hydraulic robots", IEEE ICRA 2016
M. J. Kim, et. al., "Powered upper-limb control using passivity-based nonlinear disturbance observer for unknown payload carrying applications", IEEE ICRA 2016
M. J. Kim, and W. K. Chung, "Disturbance-observer-based pd control of flexible joint robots for asymptotic convergence", IEEE T-RO
M. J. Kim, Y. Choi, and W. K. Chung, "Bringing Nonlinear H-infinity Optimality to Robot Controllers", IEEE T-RO
M. J. Kim, W. Lee, and W. K. Chung, "Carrying heavy payload with limited sensory information using high order disturbance observer", IEEE/RSJ IROS 2015
M. J. Kim, and W. K. Chung, "Robust control of flexible joint robots based on motor-side dynamics reshaping using disturbance observer (dob)", IEEE/RSJ IROS 2014
M. J. Kim, and W. K. Chung, "Design of nonlinear H-infinity optimal impedance controllers", IEEE/RSJ IROS 2013
M. J. Kim, S. Park, and W. K. Chung, "Nonlinear robust internal loop compensator for robust control of robotic manipulators", IEEE/RSJ IROS 2012
J. Lee, S. Kim, Y. S. Kim, W. K. Chung, and M. J. Kim, "Automated surgical planning and evaluation algorithm for spinal fusion surgery with three-dimensional pedicle mode", IEEE/RSJ IROS 2011
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