Publications
KIST Advanced Robot Control Lab.
2023
Y. Seo, D. Kim, J. Bak, Y. Oh, and Y. Lee, "Extremely Fast Computation of CoM Trajectory Generation for Walking Leveraging MPPI Algorithm", 2023 IEEE-RAS International Conference on Humanoid Robots (Humanoids) (pp. 256-262). Y. Seo and D. Kim equally contributed as co-first authors.
D. Kim, S. Hwang, M. Lim, Y. Oh, and Y. Lee, "Neural Network-Based Joint Velocity Estimation Method for Improving Robot Control Performance", IEEE Access 11 (2023): 130517-130526. 2022 JCR IF 3.9, 36.2%
S. Cho, Y. Lee, K. Kim, Y. S. Ihn, J.-S. Kim, and B. J. You, "Flexible Control and Task Manager System for Non-Contact Delivery Robots in COVID-19 Isolated Facilities", 2023 IEEE International Conference onRobot and Human Interactive Communication (RO-MAN) (pp. 484-489).
D. Kim, M. Lim, and Y. Lee, "인공신경망을 활용한 로봇의 관절 각도에 따른 자가충돌 예측 기술", 2023 제어로봇시스템학회 (ICROS) (우수논문상).
J. Ahn, E. Im, and Y. Lee, "Learning Impulse-Reduced Gait for Quadruped Robot Using CMA-ES", 2023 International Conference on Ubiquitous Robots (UR) (pp. 261-265).
J. Jo, J. An, Y. Lee, and Y. Oh, "Whole-Body Balancing and Differential Driving Control Using a Relative Vector-Based LQR to Address Non-Holonomy of a Wheel-Legged Robot", 2023 International Conference on Ubiquitous Robots (UR) (pp. 302-307).
2022
M. Schwartz, J. Sim, J. Ahn, S. Hwang, Y. Lee, and J. Park, "Design of the Humanoid Robot TOCABI", 2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids).
(Invited Talk) Y. Lee, "QP최적화 기반 다관절로봇 작업공간 제어 기술", 2022 제 37회 제어로봇시스템학회 (ICROS) 우수신진연구자세션 (우수신진연구자상).
M. Park, D. Kim, Y. Oh, and Y. Lee, "Computational Cost Reduction Method for HQP-based Hierarchical Controller for Articulated Robot", The Journal of Korea Robotics Society 17.1 (2022): 16-24.
Y. Lee, N. Tsagarakis, C. Ott, and J. Lee "A Generalized Index for Fault-tolerant Control in Operational Space under Free-swinging Actuation Failure", IEEE Robotics and Automation Letters (RA-L), 7(2), (2022), 1486-1493. (ICRA 2022 presentation) JCR 2020 IF 3.741, 32.1%
2021
Y. Lee, J. Ahn, J. Lee, and J. Park, "Computationally Efficient HQP-based Whole-body Control Exploiting the Operational-space Formulation", 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 5174-5179), IEEE, 2021.
(Invited Talk) Y. Lee, "Whole-body Control of Torque Controllable Legged Robot ", 2021 18th International Conference on Ubiquitous Robots (UR 2021), Young researcher session.
Y. Lee, H. Lee, J. Lee, and J. Park, "Towards Reactive Walking: Control of Biped Robots Exploiting an Event-based FSM", IEEE Transactions on Robotics (T-RO). JCR 2019 IF 6.123, 10.7%
Y. Lee, N. Tsagarakis, and J. Lee, "Study on Operational Space Control of a Redundant Robot with Un-actuated Joints: Experiments under Actuation Failure Scenarios", Nonlinear Dynamics, 1-14 (2021). 2019 JCR IF 4.867, 8%
Y. Lee, S. Kim, J. Park, N. Tsagarakis, and J. Lee, "A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization", IEEE Access 9 (2021): 39813-39826. 2019 JCR IF 3.745, 22.4%