Seungmoon Song

ssm0445 at gmail

PhD Student
The Robotics Institute
School of Computer Science
Carnegie Mellon University

Email: ssm0445 at gmail
CV
(updated at May 2015)



homepage updated at August 2015


08. 2012 - current          PhD in the Robotics Institute
School of Computer Science, Carnegie Mellon University, USA
Research: Neuromuscular human locomotion control
Advisor: Hartmut Geyer

08. 2010 - 12. 2011         MS in the Robotics Institute
School of Computer Science, Carnegie Mellon University, USA
Research: Neuromuscular human walking speed control
Advisor: Hartmut Geyer

08. 2008 - 08. 2010         MS in Electrical and Computer Engineering
College of Engineering, Virginia Tech, USA
Research: Walking controllers for humanoid robots with position-controlled joints
Advisor: Dennis Hong

02. 2004 - 08. 2008         BS in Electrical and Computer Engineering
School of Engineering, *ICU(KAIST), S. Korea
Summa cum laude
Minor: IT Business
Research: LDPC code, wireless communications
Advisor: Jeongseok Ha
* ICU(Information and Communications University) was Korea's IT-specialized university and merged with KAIST(Korea Advanced Institute of Science and Technology) in 2009.





I am interested in all aspects of legged locomotion: from the basic principles of the dynamics and control of legged locomotion, to their applications to rehabilitation technologies and legged robots. My current research focuses on better understanding the control of human locomotion using neuromuscular physics simulation. You can download my neuromuscular model here.

I am eager to share and discuss research ideas. Email me if you do not have access to my publications.


Journal paper


A neural circuitry that emphasizes spinal feedback generates diverse behaviours of human locomotion
Seungmoon Song and Hartmut Geyer
The Journal of Physiology, 2015
paper     video     model



Refereed conference papers


Toward a virtual neuromuscular control for robust walking in bipedal robots
Zachary Batts, Seungmoon Song, Hartmut Geyer
IEEE IROS, 2015, accepted

Development of a bipedal robot that walks like an animation character
Seungmoon Song, Joohyung Kim, and Katsu Yamane
IEEE ICRA, 2015
paper     video     press

Integration of an adaptive swing control into a neuromuscular human walking model
Seungmoon Song, Ruta Desai, and Hartmut Geyer
IEEE EMBC, 2013
paper     video

Generalization of a muscle-reflex control model to 3D walking
Seungmoon Song and Hartmut Geyer
IEEE EMBC, 2013
paper

The effect of foot compliance encoded in the windlass mechanism on the energetics of human walking
Seungmoon Song, Christopher LaMontagna, Steven H. Collins, and Hartmut Geyer
IEEE EMBC, 2013
paper     video     project page

Regulating speed and generating large speed transitions in a neuromuscular human walking model
Seungmoon Song and Hartmut Geyer
IEEE ICRA, 2012
paper     video     slides

The energetic cost of adaptive feet in walking
Seungmoon Song and Hartmut Geyer
IEEE ROBIO, 2011
paper     slides     project page

Development of an omnidirectional walking engine for full-sized lightweight humanoid robots
Seungmoon Song, Young-Jae Ryoo, and Dennis W. Hong
ASME IDETC, 2011
paper     video1     video2     slides     project page

Linear-time encodable rate-compatible punctured LDPC codes with low error floors
Seungmoon Song, Daesung Hwang, Sunglock Seo, and Jeongseok Ha
IEEE VTC, 2008
paper



Patent


Apparatus and method for encoding low density parity check code, Korean patent 10-0999272-00-00, 2010.

Other technical writings


ROBOT (monthly magazine, Korea) “Robotic lower-limb prosthetics related technical issues - 2. Control algorithm,” May, 2013. [link]

ROBOT (monthly magazine, Korea) “Robotic lower-limb prosthetics related technical issues - 1. Hardware,” April, 2013. [link]




Talks (video recorded)


ICRA 2015 (3 min talk) Development of a bipedal robot that walks like an animation character [video]

Dynamic Walking 2013 (10 min talk + 10 min Q&A) Robust 3D locomotion in simulation using primarily reflex control [video]