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\n  \n 2024\n \n \n (3)\n \n \n
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\n \n\n \n \n \n \n \n Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms.\n \n \n \n\n\n \n \n\n\n \n\n\n\n arXiv preprint arXiv:2404.10938. 2024.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n  \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n  \n \n \n\n\n\n
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\n  \n\n  \n  \n  \n  \n  \n  \n    Data-Driven Predictive Control for Robust Exoskeleton Locomotion.\n  \n  \n  \n  \n\n\n  \n  Li, K.; Kim, J.; Xiong, X.; Hamed, K. A.; Yue, Y.;  and Ames, A. D\n\n\n  \n\n\n\n  arXiv preprint arXiv:2403.15658.  2024.\n  \n\n\n\n
\n\n\n\n  \n  \n    \"Data-Driven paper\n   \n  \n\n  \n\n  \n  link\n   \n  \n\n  bibtex\n    \n\n  \n\n  \n   \n  \n    3 downloads\n  \n  \n\n  \n  \n  \n  \n  \n  \n  \n\n   \n  \n  \n\n\n\n
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@article{li2024data,\n  title={Data-Driven Predictive Control for Robust Exoskeleton Locomotion},\n  author={Li, Kejun and Kim, Jeeseop and Xiong, Xiaobin and Hamed, Kaveh Akbari and Yue, Yisong and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2403.15658},\n  year={2024},\n  url_paper={https://arxiv.org/abs/2403.15658}\n}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  Robust Safety-Critical Control for Input-Delayed System with Delay Estimation.\n  \n  \n  \n\n\n  \n  Kim, Y.; Kim, J.; Ames, A.;  and Sloth, C.\n\n\n  \n\n\n\n  In European Control Conference,  2024. \n  \n\n\n\n
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@inproceedings{kim2024robust,\n  title={Robust Safety-Critical Control for Input-Delayed System with Delay Estimation},\n  author={Kim, Yitaek and Kim, Jeeseop and Ames, Aaron and Sloth, Christoffer},\n  booktitle={European Control Conference},\n  year={2024}\n}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics.\n  \n  \n  \n\n\n  \n  Ghansah, A. B; Kim, J.; Tucker, M.;  and Ames, A. D\n\n\n  \n\n\n\n  In 2023 62nd IEEE Conference on Decision and Control (CDC), pages 1879–1885,  2023. IEEE\n  \n\n\n\n
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@inproceedings{ghansah2023humanoid,\n  title={Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics},\n  author={Ghansah, Adrian B and Kim, Jeeseop and Tucker, Maegan and Ames, Aaron D},\n  booktitle={2023 62nd IEEE Conference on Decision and Control (CDC)},\n  pages={1879--1885},\n  year={2023},\n  organization={IEEE},\n  doi={10.1109/CDC49753.2023.10383745}\n}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  \n    A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints.\n  \n  \n  \n  \n\n\n  \n  Lee, J.; Kim, J.;  and Ames, A. D\n\n\n  \n\n\n\n  arXiv preprint arXiv:2312.07786.  2023.\n  \n\n\n\n
\n\n\n\n  \n  \n    \"A paper\n   \n  \n\n  \n\n  \n  link\n   \n  \n\n  bibtex\n    \n\n  \n\n  \n   \n  \n    3 downloads\n  \n  \n\n  \n  \n  \n  \n  \n  \n  \n\n   \n  \n  \n\n\n\n
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@article{lee2023data,\n  title={A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints},\n  author={Lee, Jaemin and Kim, Jeeseop and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2312.07786},\n  year={2023},\n  url_paper={https://arxiv.org/abs/2312.07786}\n}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  \n    Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions.\n  \n  \n  \n  \n\n\n  \n  Kim, J.; Lee, J.;  and Ames, A. D\n\n\n  \n\n\n\n  arXiv preprint arXiv:2312.08689.  2023.\n  \n\n\n\n
\n\n\n\n  \n  \n    \"Safety-Critical paper\n   \n  \n\n  \n\n  \n  link\n   \n  \n\n  bibtex\n    \n\n  \n\n  \n   \n  \n    7 downloads\n  \n  \n\n  \n  \n  \n  \n  \n  \n  \n\n   \n  \n  \n\n\n\n
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@article{kim2023safety_coordination,\n  title={Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions},\n  author={Kim, Jeeseop and Lee, Jaemin and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2312.08689},\n  year={2023},\n  url_paper={https://arxiv.org/abs/2312.08689}\n}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  \n    Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments.\n  \n  \n  \n  \n\n\n  \n  \n\n\n  \n\n\n\n  arXiv preprint arXiv:2312.07778.  2023.\n  \n\n\n\n
\n\n\n\n  \n  \n    \"Safety-critical paper\n   \n  \n\n  \n\n  \n  link\n   \n  \n\n  bibtex\n    \n\n  \n\n  \n   \n  \n    3 downloads\n  \n  \n\n  \n  \n  \n  \n  \n  \n  \n\n   \n  \n  \n\n\n\n
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\n  \n\n  \n  \n  \n  \n  \n  Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots.\n  \n  \n  \n\n\n  \n  Lee, J.; Kim, J.;  and Ames, A. D.\n\n\n  \n\n\n\n  In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2384-2391,  2023. \n  \n\n\n\n
\n\n\n\n  \n\n  \n  \n    doi\n   \n  \n\n  \n  link\n   \n  \n\n  bibtex\n    \n\n  \n\n  \n   \n  \n    2 downloads\n  \n  \n\n  \n  \n  \n  \n  \n  \n  \n\n   \n  \n  \n\n\n\n
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@INPROCEEDINGS{lee2023hierarchical,\n  author={Lee, Jaemin and Kim, Jeeseop and Ames, Aaron D.},\n  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, \n  title={Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots}, \n  year={2023},\n  volume={},\n  number={},\n  pages={2384-2391},\n  doi={10.1109/IROS55552.2023.10342094}}\n
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\n  \n\n  \n  \n  \n  \n  \n  Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions.\n  \n  \n  \n\n\n  \n  Kim, J.; Lee, J.;  and Ames, A. D.\n\n\n  \n\n\n\n  In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2368-2375,  2023. \n  \n\n\n\n
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@INPROCEEDINGS{kim2023safety,\n  author={Kim, Jeeseop and Lee, Jaemin and Ames, Aaron D.},\n  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, \n  title={Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions}, \n  year={2023},\n  volume={},\n  number={},\n  pages={2368-2375},\n  doi={10.1109/IROS55552.2023.10341987}}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches.\n  \n  \n  \n\n\n  \n  Kim, J.; Fawcett, R. T.; Kamidi, V. R.; Ames, A. D.;  and Hamed, K. A.\n\n\n  \n\n\n\n  IEEE Transactions on Robotics, 39(6): 4728-4748.  2023.\n  \n\n\n\n
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@ARTICLE{kim2023layered,\n  author={Kim, Jeeseop and Fawcett, Randall T. and Kamidi, Vinay R. and Ames, Aaron D. and Hamed, Kaveh Akbari},\n  journal={IEEE Transactions on Robotics}, \n  title={Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches}, \n  year={2023},\n  volume={39},\n  number={6},\n  pages={4728-4748},\n  doi={10.1109/TRO.2023.3319896}\n}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion.\n  \n  \n  \n\n\n  \n  Fawcett, R. T.; Amanzadeh, L.; Kim, J.; Ames, A. D.;  and Akbari Hamed, K.\n\n\n  \n\n\n\n  In 2023 IEEE International Conference on Robotics and Automation (ICRA), pages 9924-9930,  2023. \n  \n\n\n\n
\n\n\n\n  \n\n  \n  \n    doi\n   \n  \n\n  \n  link\n   \n  \n\n  bibtex\n    \n\n  \n\n  \n\n  \n  \n  \n  \n  \n  \n  \n\n   \n  \n  \n\n\n\n
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@INPROCEEDINGS{fawcett2023distributed,\n  author={Fawcett, Randall T. and Amanzadeh, Leila and Kim, Jeeseop and Ames, Aaron D. and Akbari Hamed, Kaveh},\n  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)}, \n  title={Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion}, \n  year={2023},\n  volume={},\n  number={},\n  pages={9924-9930},\n  doi={10.1109/ICRA48891.2023.10160914}}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  \n    Collaborative Locomotion of Quadrupedal Robots: From Centralized Predictive Control to Distributed Control.\n  \n  \n  \n  \n\n\n  \n  Kim, J.\n\n\n  \n\n\n\n  Ph.D. Thesis, Virginia Tech,  2022.\n  \n\n\n\n
\n\n\n\n  \n  \n    \"Collaborative paper\n   \n  \n\n  \n\n  \n  link\n   \n  \n\n  bibtex\n    \n\n  \n\n  \n\n  \n  \n  \n  \n  \n  \n  \n\n   \n  \n  \n\n\n\n
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@phdthesis{kim2022collaborative,\n  title={Collaborative Locomotion of Quadrupedal Robots: From Centralized Predictive Control to Distributed Control},\n  author={Kim, Jeeseop},\n  year={2022},\n  school={Virginia Tech},\n  url_Paper={https://vtechworks.lib.vt.edu/handle/10919/111645}\n}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  \n    Distributed quadratic programming-based nonlinear controllers for periodic gaits on legged robots.\n  \n  \n  \n  \n\n\n  \n  Kamidi, V. R; Kim, J.; Fawcett, R. T; Ames, A. D;  and Akbari Hamed, K.\n\n\n  \n\n\n\n  IEEE Control Systems Letters, 6: 2509–2514.  2022.\n  \n\n\n\n
\n\n\n\n  \n  \n    \"Distributed paper\n   \n  \n\n  \n\n  \n  link\n   \n  \n\n  bibtex\n    \n\n  \n\n  \n   \n  \n    1 download\n  \n  \n\n  \n  \n  \n  \n  \n  \n  \n\n   \n  \n  \n\n\n\n
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@article{kamidi2022distributed,\n  title={Distributed quadratic programming-based nonlinear controllers for periodic gaits on legged robots},\n  author={Kamidi, Vinay R and Kim, Jeeseop and Fawcett, Randall T and Ames, Aaron D and Akbari Hamed, Kaveh},\n  journal={IEEE Control Systems Letters},\n  volume={6},\n  pages={2509--2514},\n  year={2022},\n  publisher={IEEE},\n  url_Paper={https://doi.org/10.1109/LCSYS.2022.3167795}\n}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  \n    Cooperative locomotion via supervisory predictive control and distributed nonlinear controllers.\n  \n  \n  \n  \n\n\n  \n  Kim, J.;  and Akbari Hamed, K.\n\n\n  \n\n\n\n  Journal of Dynamic Systems, Measurement, and Control, 144(3).  2022.\n  \n\n\n\n
\n\n\n\n  \n  \n    \"Cooperative paper\n   \n  \n\n  \n\n  \n  link\n   \n  \n\n  bibtex\n    \n\n  \n\n  \n   \n  \n    1 download\n  \n  \n\n  \n  \n  \n  \n  \n  \n  \n\n   \n  \n  \n\n\n\n
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@article{kim2022cooperative,\n  title={Cooperative locomotion via supervisory predictive control and distributed nonlinear controllers},\n  author={Kim, Jeeseop and Akbari Hamed, Kaveh},\n  journal={Journal of Dynamic Systems, Measurement, and Control},\n  volume={144},\n  number={3},\n  year={2022},\n  publisher={American Society of Mechanical Engineers Digital Collection},\n  url_Paper={https://doi.org/10.1115/1.4052917}\n}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  \n    Real-time planning and nonlinear control for quadrupedal locomotion with articulated tails.\n  \n  \n  \n  \n\n\n  \n  Fawcett, R. T; Pandala, A.; Kim, J.;  and Akbari Hamed, K.\n\n\n  \n\n\n\n  Journal of Dynamic Systems, Measurement, and Control, 143(7).  2021.\n  \n\n\n\n
\n\n\n\n  \n  \n    \"Real-time paper\n   \n  \n\n  \n\n  \n  link\n   \n  \n\n  bibtex\n    \n\n  \n\n  \n   \n  \n    1 download\n  \n  \n\n  \n  \n  \n  \n  \n  \n  \n\n   \n  \n  \n\n\n\n
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@article{fawcett2021real,\n  title={Real-time planning and nonlinear control for quadrupedal locomotion with articulated tails},\n  author={Fawcett, Randall T and Pandala, Abhishek and Kim, Jeeseop and Akbari Hamed, Kaveh},\n  journal={Journal of Dynamic Systems, Measurement, and Control},\n  volume={143},\n  number={7},\n  year={2021},\n  publisher={American Society of Mechanical Engineers Digital Collection},\n  url_Paper={https://doi.org/10.1115/1.4049555}\n}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  \n    Quadrupedal locomotion via event-based predictive control and QP-based virtual constraints.\n  \n  \n  \n  \n\n\n  \n  Akbari Hamed, K.; Kim, J.;  and Pandala, A.\n\n\n  \n\n\n\n  IEEE Robotics and Automation Letters, 5(3): 4463–4470.  2020.\n  \n\n\n\n
\n\n\n\n  \n  \n    \"Quadrupedal paper\n   \n  \n\n  \n\n  \n  link\n   \n  \n\n  bibtex\n    \n\n  \n\n  \n\n  \n  \n  \n  \n  \n  \n  \n\n   \n  \n  \n\n\n\n
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@article{hamed2020quadrupedal,\n  title={Quadrupedal locomotion via event-based predictive control and QP-based virtual constraints},\n  author={Akbari Hamed, Kaveh and Kim, Jeeseop and Pandala, Abhishek},\n  journal={IEEE Robotics and Automation Letters},\n  volume={5},\n  number={3},\n  pages={4463--4470},\n  year={2020},\n  publisher={IEEE},\n  url_Paper={https://doi.org/10.1109/LRA.2020.3001471}\n}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  \n    Application of robot manipulator for cardiopulmonary resuscitation.\n  \n  \n  \n  \n\n\n  \n  Jung, J.; Kim, J.; Kim, S.; Kwon, W. Y.; Na, S. H.; Kim, K. S.; Suh, G. J.; Yoo, B. W.; Choi, J. W.; Lee, J. C.;  and others\n\n\n  \n\n\n\n  In 2016 International Symposium on Experimental Robotics, pages 266–274,  2017. Springer\n  \n\n\n\n
\n\n\n\n  \n  \n    \"Application paper\n   \n  \n\n  \n\n  \n  link\n   \n  \n\n  bibtex\n    \n\n  \n\n  \n   \n  \n    2 downloads\n  \n  \n\n  \n  \n  \n  \n  \n  \n  \n\n   \n  \n  \n\n\n\n
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@inproceedings{jung2017application,\n  title={Application of robot manipulator for cardiopulmonary resuscitation},\n  author={Jung, Jaesug and Kim, Jeeseop and Kim, Sanghyun and Kwon, Woon Yong and Na, Sang Hoon and Kim, Kyung Su and Suh, Gil Joon and Yoo, Byeong Wook and Choi, Jin Woo and Lee, Jung Chan and others},\n  booktitle={2016 International Symposium on Experimental Robotics},\n  pages={266--274},\n  year={2017},\n  organization={Springer},\n  url_Paper={https://doi.org/10.1007/978-3-319-50115-4_24}\n}\n\n
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\n  \n\n  \n  \n  \n  \n  \n  \n    Improvement of humanoid walking control by compensating actuator elasticity.\n  \n  \n  \n  \n\n\n  \n  Kim, J.; Kim, M.;  and Park, J.\n\n\n  \n\n\n\n  In 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), pages 29–34,  2016. IEEE\n  \n\n\n\n
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@inproceedings{kim2016improvement,\n  title={Improvement of humanoid walking control by compensating actuator elasticity},\n  author={Kim, Jeeseop and Kim, Mingon and Park, Jaeheung},\n  booktitle={2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)},\n  pages={29--34},\n  year={2016},\n  organization={IEEE},\n  url_Paper={https://doi.org/10.1109/HUMANOIDS.2016.7803250}\n}\n\n
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