Selected Publications
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) (accepted)
Design of a Fully Actuated Drone With Non-Isotropic Wrench Shape
Seongsu Park, and Min Jun Kim
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 (accepted)
Disturbance-Aware Model Predictive Control
Jiwon Kim, and Min Jun Kim
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 (accepted)
Disturbance Observer With Constraints
Tae Ho Yun, and Min Jun Kim
IEEE Control Systems Letters (L-CSS) (accepted)
Constrained Nonlinear Disturbance Observer for Robotic Systems
Ji Wan Han, Daehyung Park, and Min Jun Kim
IEEE International Conference on Robotics and Automation (ICRA), 2024
Graph-Based 3D Collision-Distance Estimation Network with Probabilistic Graph Rewiring
Minjae Song, Yeseung Kim, Minjun Kim, Daehyung Park
IEEE International Conference on Robotics and Automation (ICRA), 2024
[arXiv]
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
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
Min Jun Kim, Alexander Werner, Florian Loeffl, and Christian Ott
IEEE Transactions on Robotics (T-RO)
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
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
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
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
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
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
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)
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
Min Jun Kim, Konstantin Kondak, and Christian Ott
IEEE Robotics and Automation Letters (RA-L)
with presentation at ICRA 2018
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
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