All Publications
2024
D Lee, D. Ko, M. J. Kim, W. K. Chung, "Bidirectional Energy Flow Modulation for Passive Admittance Control" IEEE T-RO (accepted)
J. Kim, and M.J. Kim, "Disturbance-Aware Model Predictive Control of Underactuated Robotics Systems", IEEE/RSJ IROS 2024 (accepted)
S. Park, and M. J. Kim, "Design of a Fully Actuated Drone With Non-Isotropic Wrench Shape", IEEE/RSJ IROS 2024 (accepted)
T. H. Yun, and M. J. Kim, "Disturbance Observer With Constraints", IEEE L-CSS 2024 (accepted)
S. W. Han, M. Iskandar, J. Lee and M. J. Kim, “Online Multi-Contact Feedback Model Predictive Control for Interactive Robotic Tasks", IEEE ICRA 2024 (accepted)
J. W. Han, D. Park, and M. J. Kim "Constrained Nonlinear Disturbance Observer for Robotic Systems", IEEE ICRA 2024 (accepted)
M. Song, Y. Kim, M. J. Kim, and D. Park "Graph-Based 3D Collision-Distance Estimation Network with Probabilistic Graph Rewiring", IEEE ICRA2024 (accepted)
J. Jeong, S. Park, S. Lee, D. Youn, and M. J. Kim, "Designing an End-to-End UAV System for Insulator Inspection under Transmission Tower Environments", IEEE ICEIC 2024
2023
K. Kim, D. Park, and M. J. Kim, “A Reachability Tree-Based Algorithm for Robot Task and Motion Planning”, IEEE ICRA 2023
S. W. Han, and M. J. Kim, “Proprioceptive Sensor-Based Simultaneous Multi-Contact Point Localization and Force Identification for Robotic Arms”, IEEE ICRA 2023
J. Jeong, and M. J. Kim, “Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators”, IEEE ICRA 2023
Y. Sarkisov, A. Coelho, M. Santos, M. J. Kim, D. Tsetserukou, C. Ott, and K. Kondak, “Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based actuation”, IEEE ICRA 2023
2022
J. Jeong, H. Mishra, C.Ott, and M. J. Kim, "A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function", IEEE ICRA 2022
M. J. Kim, A. Werner, F. Loeffl, and C. Ott, "Passive Impedance Control of Robots with Viscoelastic Joints via Inner-loop Torque Control", IEEE T-RO
2021
J. Jeong, M. J. Kim, “Interaction control of under-actuated UAV capable of exerting downward force”, ANBRE21
2020
W. Lee, M. J. Kim, and W. K. Chung, "Asymptotically stable disturbance observer-based compliance control of electro-hydrostatic actuators", IEEE/ASME T-MECH
C. Gabellieri, Y. Sarkisov, A. Coelho, L. Pallottino, K. Kondak, and M. J. Kim, "Compliance Control of Cable-Suspended Aerial Manipulator Using Hierarchical Control Framework", IEEE/RSJ IROS 2020
Y. Sarkisov, M. J. Kim, A. Coelho, D. Tsetserukou, C. Ott, and K. Kondak, "Optimal oscillation damping control of cable-suspended aerial manipulator with a single imu", IEEE ICRA 2020
J. Lee, R. Balachandran, Y. Sarkisov, M. De Stefano, A. Coelho, K. Shinde, M. J. Kim, R. Triebel, and K. Kondak, "Visual-inertial telepresence for aerial manipulation", IEEE ICRA 2020
2019
M. J. Kim, F. Beck, C. Ott, and A. Albu-Schaeffer, "Model-free friction observers for flexible joint robots with torque measurements", IEEE T-RO (with presentation at ICRA 2020)
Y. Sarkisov, M. J. Kim, D. Bicego, D. Tsetserukou, C. Ott, A. Franchi, and K. Kondak, "Development of sam: cable-suspended aerial manipulator", IEEE ICRA 2019 (co-first)
M. J. Kim, W. Lee, J. Choi, G. Chung, K.-L. Han, I. S. Choi, C. Ott, and W. K. Chung, "A passivity-based nonlinear admittance control with application to powered upper-limb control under unknown environmental interactions", IEEE/ASME T-MECH
2018
M. J. Kim, R. Balachandran, M. De Stefano, K. Kondak, and C. Ott, "Passive compliance control of aerial manipulators", IEEE/RSJ IROS 2018
M. J. Kim, K. Kondak, and C. Ott, "A stabilizing controller for regulation of uav with manipulator", IEEE RA-L (with presentation at ICRA 2018)
M. J. Kim, J. Lin, K. Kondak, D. Lee, and C. Ott, "Oscillation damping control of pendulum-like manipulation platform using moving masses", IFAC SYROCO
2017
W. Lee, M. J. Kim, and W. K. Chung, "Disturbance-observer-based pd control of electro-hydrostatically actuated flexible joint robots", IEEE/RSJ IROS 2017
M. J. Kim, A. Werner, F. Loeffl, and C. Ott, "Enhancing joint torque control of series elastic actuators with physical damping", IEEE ICRA 2017
2016
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
Y. J .Heo, J. Kang, M. J. Kim, and W. K. Chung, "Tuning-free controller to accurately regulate flow rates in a microfluidic network", Scientific Reports
2015
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
H. Yu, I. S. Choi, M. J. Kim, Y. J. Park, W. K. Chung, and K. Kim, "Development of a hydraulic shroud nozzle manipulator with robust force control in continuous casting process", ISIJ International
M. J. Kim, Y. J. Park, and W. K. Chung, "Design of a momentum-based disturbance observer for rigid and flexible joint robots", Intelligent Service Robotics
M. J. Kim, and W. K. Chung, "Applying disturbance observer to the motor side of flexible joint robots with pd control", URAI 2015
W. Lee, M. J. Kim, and W. K. Chung, "An approach to development of electro hydrostatic actuator (EHA)-based robot joints", IEEE ICIT 2015
2014
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
2013
M. J. Kim, and W. K. Chung, "Design of nonlinear H-infinity optimal impedance controllers", IEEE/RSJ IROS 2013
T. Wang, et. al., "Gradient index lens based combined two-photon microscopy and optical coherence tomography", Optics Express
2012
M. J. Kim, S. Park, and W. K. Chung, "Nonlinear robust internal loop compensator for robust control of robotic manipulators", IEEE/RSJ IROS 2012
2011
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
M. J. Kim, and W. K. Chung, "Nonlinear Disturbance observer design for Euler-Lagrange systems: An initial study", URAI 2011
Domestic
2024
S. W. Han, M. Iskandar, J. Lee, and M. J. Kim, “Optimization-based Multi-Contact Force Control”, The 19th KRoC
J. Han, and M. J. Kim, “QP-Based Precision Robot Motion Control with Robot Environment Interaction Capability and Sensorless Setup”, The 19th KRoC
K. Kim, and M. J. Kim, “Manipulation planning, Optimization-based planning, Neural graspable set”, The 19th KRoC
2023
S. W. Han, and M. J. Kim, “Multi-Contact Point Localization and Force Identification for Collaborative Robot Arm using Proprioceptive Sensor”, The 18th KRoC
J. Jeong, and M. J. Kim, “Decentralized Passive Impedance Control Method for Collaborative Grasping of Aerial Manipulators”, The 18th KRoC
K. Kim, D. Park, and M. J. Kim, “Reachability tree-based Task and Motion Planner using Abstract Action Plan Sampling”, The 18th KRoC
H. Lee ,and S. Kim, and M. J. Kim, "Safe Parameter Automated Tuning of Robust Control of Manipulator without Expert Intervention", KSPE 2023 Autumn Conference
2022
S. Lee, J. Jeong, and M. J. Kim, “Implementation of Impedance Controller for Redundant Robot Manipulators Using Extended Exponential Coordinates”, The 37th ICROS (winner of the outstanding undergraduate paper award)
2014
M. J. Kim, and W. K. Chung, “Development of disturbance observer for uncertainty estimation of euler-lagrange systems”, The 9th KRoC
2013
M. J. Kim, and W. K. Chung, “On the behavior of nonlinear robust internal loop compensator in linear systems”, The 8th KRoC
2010
M. J. Kim, K. Lee, and W. K. Chung, “Enhancement of VFH algorithm”, The 5th KRoC