Our research aims to fundamentally advance the understanding of legged systems to achieve high efficiency, extreme agility, and remarkable versatility in these robots.
We offer vertically integrated research strategies encompassing mechanical design, modeling, simulation, and control of legged systems. Our group explores novel hardware designs and control frameworks for legged robots using design optimization, model predictive control, and learning-based techniques.

Dynamic Robotics Research Lab은 서비스 로봇/국방재난구호로봇에 대한 주요 응용과 함께 생체 모방 로봇, 동적 로봇 시스템 제어 및 설계, 다족 보행 로봇에 중점을 둡니다.

A Modular Residual Learning Framework to Enhance Model-Based Approach for Robust Locomotion

Path Planning and Foothold Adaptation for Quadrupedal Locomotion on Challenging Terrain

Design of LIGHTDOG: A high payload-to-weight, hose-less hydraulic quadrupedal robot

A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards

Soft Contact Model for Robust Locomotion of Legged Robots

Multi-Sensor Fusion for Quadruped Robot State Estimation Using Invariant Filtering and Smoothing

Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients

Reinforcement Learning for High-Speed Quadrupedal Locomotion With Motor Operating Region Constraints: Mitigating Motor Model Discrepancies through Torque Clipping in Realistic Motor Operating Region

Contact-implicit Model Predictive Control: Controlling diverse quadruped motions without pre-planned contact modes or trajectories

Invariant Smoother for Legged Robot State Estimation With Dynamic Contact Event Information

Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion

Seamless Reaction Strategy for Bipedal Locomotion Exploiting Real-Time Nonlinear Model Predictive Control

Agile and versatile climbing on ferromagnetic surfaces with a quadrupedal robot

Contact-Implicit Differential Dynamic Programming for Model Predictive Control with Relaxed Complementarity Constraints

DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators

Design of Foothold Decision Model in Convex Model Predictive Control for Legged Robots

2-DOF Rolling Joint with the Novel Interior Reinforcement Structures

Learning Footstep Planning for the Quadrupedal Locomotion with Model Predictive Control

Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control

Design of KAIST HOUND, a Quadruped Robot Platform for Fast and Efficient Locomotion with Mixed-Integer Nonlinear Optimization of a Gear Train

Energy-Efficient Hydraulic Pump Control for Legged Robots Using Model Predictive Control

Legged Robot State Estimation With Dynamic Contact Event Information

Force Control of a Hydraulic Actuator With a Neural Network Inverse Model

Design of a Compact Embedded Hydraulic Power Unit for Bipedal Robots

Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds

Real-time Bilateral Teleoperation with Electric and Hydraulic Actuator

GPU Acceleration of Probabilistic Local Height Map that Resolves Race Condition

Design of Foothold Optimization Model for Controlling Legged Robots

Jumping over Obstacles with MIT Cheetah 2

Energy Efficient Control of Onboard Hydraulic Power Unit for Hydraulic Bipedal Robots

Real-Time Constrained Nonlinear Model Predictive Control on SO(3) for Dynamic Legged Locomotion

Wrench-based Kinodynamic Motion Planning for Multi-Legged Robots via Mixed-Integer Convex Program

Kinodynamic Motion Planning for Multi-Legged Robot Jumping Via MixedInteger Convex Program

Centroidal-momentum-based trajectory generation for legged locomotion

Joint Space Position/Torque Hybrid Control of the Quadruped Robot for Locomotion and Push Reaction

Design of an Under-actuated Robot Finger that Control Initial Contact Point by Activating the Passive Joint before Contact

Design Method of 2-DOF Rolling Motion Joint for Humanoid Shoulder Joint

Mobile Pump Control for Energy-Efficient Driving of Hydraulic Actuators

qpSWIFT : A Real-time Sparse Quadratic Program Solver for Robotic Applications

Development and Experiments of a Bio-inspired Robot with Multi-mode in Aerial and Terrestrial Locomotion

Design of Anti-skid Foot with Passive Slip Detection Mechanism for Conditional Utilization of Heterogeneous Foot Pads

Real-time Model Predictive Control for Versatile Dynamic Motions in Quadrupedal Robots

Design of a Lightweight In atable Sensing Sleeve for Increased Adaptability and Safety of Legged Robots

Single Leg Dynamic Motion Planning with Mixed-Integer Convex Optimization

Bio-Inspired Design of a Gliding-Walking Multi-Modal Robot

High-Speed Bounding with the MIT Cheetah 2: Control Design and Experiments

Design and Experimental Implementation of a Quasi-Direct-Drive Leg for Optimized Jumping

Quadrupedal Galloping Control for a Wide Range of Speed via Vertical Impulse Scaling

Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds

Variable-speed Quadrupedal Bounding Using Impulse Planning: Untethered High-speed 3D Running of MIT Cheetah 2

The MIT Cheetah, an Electricallypowered Quadrupedal Robot for High-speed Running

Quadruped Bounding Control with Variable Duty Cycle via Vertical Impulse Scaling

A Finite-state Machine for Accommodating Unexpected Large Ground Height Variations in Bipedal Robot Walking

Embedding Active Force Control within the Compliant Hybrid Zero Dynamics to Achieve Stable, Fast Running on MABEL

Switching Control Design for Accommodating Large Stepdown Disturbances in Bipedal Robot Walking

Design and Experimental Implementation of a Compliant Hybrid Zero Dynamics Controller with Active Force Control for Running on MABEL

Identification of a Bipedal Robot with a Compliant Drivetrain: Parameter Estimation for Control Design

A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL

Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL

Real world issues with real-time control of Mabel: A platform for experimental control of bipedal locomotion

Mabel, A New Bipedal Walker and Runner

Straight Line Swimming Simulation and Experiment of Robotic Fish

Development of a robot with fish locomotion

Design of Tracked Vehicle with Passive Mechanism for Uneven Terrain

DYNAMIC ROBOT CONTROL & DESIGN LABORATORY

교수님 소개

연구실 소개

연구실 키워드

알럼나이가 간 회사

연구실 지원 방법

대우 조건

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저널 & 학회 논문 출판 수

연구실 논문 목록

A Modular Residual Learning Framework to Enhance Model-Based Approach for Robust Locomotion

Path Planning and Foothold Adaptation for Quadrupedal Locomotion on Challenging Terrain

Design of LIGHTDOG: A high payload-to-weight, hose-less hydraulic quadrupedal robot

연구실 보유 특허

대학별 입시끈

우리 연구실 모집

교수님 소개

연구실 키워드

알럼나이가 간 회사

연구실 지원 방법

대우 조건

연도별 논문 인용수

저널 & 학회 논문 출판 수

연구실 논문 목록

A Modular Residual Learning Framework to Enhance Model-Based Approach for Robust Locomotion

Path Planning and Foothold Adaptation for Quadrupedal Locomotion on Challenging Terrain

Design of LIGHTDOG: A high payload-to-weight, hose-less hydraulic quadrupedal robot

연구실 보유 특허

최근 3년간 연구실적 높은 연구실

대학별 입시끈

우리 연구실 모집