KIST Advanced Robot Control Lab.
2025
D. Kim, E. Im, Y. Kim, M. Lim, and Y. Lee, "Single-Instance Sampling for Computationally Efficient and Accurate Real-Time Task Space MPPI Control", IEEE Transactions on Robotics (T-RO). Accepted, D.Kim and E. Im are co-first authors.
J. Ahn, J. Jung, Y. Lee, H. Lee, S. Haddadin, and J. Park, "Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics", International Journal of Control, Automation, and Systems (IJCAS), 23 (9), 2656-2665. 2024 JCR IF 2.9, 38.8%
T. Jeong, Y. Chai. S. Choi, J. Bak, C. Kim, J. Yoon, Y. Lee, K. Lee, J. Kim, and S. Choi, "CoRe: A Hybrid Approach of Contact-aware Optimization and Learning for Humanoid Robot Motions", 2025 IEEE-RAS International Conference on Humanoid Robots (Humanoids). Accepted
Y. Seo, M. Lim, and Y. Lee, 3 자유도 다리 시스템의 실시간 제어를 위한 전신 MPPI, 2025 제어로봇시스템학회 (ICROS)
T. Kang, BJ. You, J. Park, and Y. Lee, "A Real-time Anomaly Detection Method for Robots based on a Flexible and Sparse Latent Space", Engineering Applications of Artificial Intelligence 158 (2025): 111310. 2024 JCR IF 8.0, 2.6%, Y. Lee and J. Park are co-corresponding authors
M. Seo, Y. Cha, and Y. Lee, "모바일로봇의 샘플링 기반 모델 예측 제어의 샘플링 방식에 따른 성능 분석", 2025 한국로봇종합학술대회 (KRoC)
2024
Y Kim, S Choi, BJ You, K Jang, and Y Lee, "Subspace-wise Hybrid RL for Articulated Object Manipulation", arXiv preprint arXiv:2412.08522. Under Review
T. Kim, J. Jeon, M. Lim, Y. Lee, and Y. Oh, "Simultaneous Tracking and Balancing Control of Two-Wheeled Inverted Pendulum with Roll-joint using Dynamic Variance MPPI", 2024 IEEE-RAS International Conference on Humanoid Robots (Humanoids) (pp. 417-424).
Y. Cho, W. Son, J. Bak, Y. Lee, H. Lim, and Y. Cha, "Full-Body Pose Estimation of Humanoid Robots Using Head-Worn Cameras for Digital Human-Augmented Robotic Telepresence, Mathematics 12 (19), 3039. 2023 JCR IF 2.3, 4.2%
J. Kim, E. IM, Y. Lee, and Y. Cha, "Quadrupedal robot with tendon-driven origami legs", Sensors and Actuators A: Physical (2024): 115769. 2023 JCR IF 4.1 20.4%, Y. Lee and Y. Char are co-corresponding authors.
Y. Kim, B. You, and Y. Lee, "강화학습 기반 벨브 회전 작업을 위한 로봇팔 말단부 실시간 방위 결정", 2024 한국로봇종합학술대회 (KRoC)
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%