Sung Kyun Kim

profile 


Ph.D. Student in Robotics
(Advised by Maxim Likhachev)

Search-based Planning Laboratory
The Robotics Institute
School of Computer Science
Carnegie Mellon University

Contact

Newell-Simon Hall 1612A
5000 Forbes Ave
Pittsburgh, PA 15213
kimsk@cs.cmu.edu

About

I am a PhD student at the Robotics Institute and a grantee of Fulbright Graduate Research Fellowship. My research interests lie in the fields of planning and control for robotic manipulation. Currently, I am particularly interested in manipulation problems that require stochastic motion planning due to complex and uncertain contact conditions, and my approach is to utilize adaptive fidelity simulations and heuristic graph search. I have been working on various robot platforms, including medical robots, humanoid robots, redundant arms, and multi-fingered hands, and now I am with PR2.

Education

Employment

Publications

Multi-fingered Hand

  1. S.-K. Kim, J. Jo, Y. Oh, S.-R. Oh, S. Srinivasa, and M. Likhachev, “Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis”, in Proceedings of 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 877-884, 2014.

  2. J. Jo, S.-K. Kim, Y. Oh, and S.-R. Oh, “Contact Force Control of a Robotic Hand Using F/T Sensory Feedback with a Rigid Object”, in Proceedings of 2012 IEEE International Conference on Automation Science and Engineering (CASE), pp. 432-437, 2012.

  3. S.-K. Kim, Y. Oh, and S.-R. Oh, “Object Manipulation in 3D Space by Two Cone-shaped Finger Robots based on Finger-Thumb Opposability without Object Sensing”, in Proceedings of 2012 IEEE International Conference on Robotics and Automation (ICRA), pp. 5136-5141, 2012.

  4. J. Jo, S.-K. Kim, Y. Oh, and S.-R. Oh, “Grasping Force Control of Three Fingers of a Human-like Robotic Hand Using F/T Sensory Feedback”, in Proceedings of the 7th Korea Robotics Society Annual Conference (KRoC), pp. 65-67, 2012.

  5. H. Lee, S.-J. Kim, K. Kim, M. S. Park, S.-K. Kim, J. H. Park, and S.-R. Oh, “Online Remote Control of a Robotic Hand Configurations Using sEMG Signals on a Forearm”, in Proceedings of 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 2243-2244, 2011.

  6. S.-K. Kim, J. Jo, Y. Oh, and S.-R. Oh, “Development of a Multi-fingered Robotic Hand and Its Compliance Control using F/T Sensors at Fingertips”, in Proceedings of the 15th International Conference on Mechatronics Techonology (ICMT), pp. 483-488, 2011.

  7. J. Jo, S.-K. Kim, Y. Oh, and S.-R. Oh, “Compliance Control of a Position Controlled Robotic Hand Using F/T Sensor”, in Proceedings of the 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 446-450, 2011.

Redundant Arm

  1. S.-m. Hur, S.-K. Kim, Y. Oh, and S.-R. Oh, “Joint Torque Servo of a High Friction Robot Manipulator Based on Time-Delay Control with Feed-Forward Friction Compensation”, in Proceedings of the 21st IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 37-42, 2012. Best paper finalist.

  2. S.-m. Hur, S.-K. Kim, Y. Oh, and S.-R. Oh, “Stiffness Modeling of Joint Torque Sensor Based Robot Arm”, in Proceedings of the 7th Korea Robotics Society Annual Conference (KRoC), pp. 509-511, 2012.

  3. S.-m. Hur, S.-K. Kim, Y. Oh, and S.-R. Oh, “Joint Torque Servo Control of a High Friction System Based on Time-Delay Control”, in Proceedings of 2012 Conference on Information and Control Systems (CICS), pp. 81-82, 2012.

  4. S.-K. Kim, J.-H. Bae, Y. Oh, and S.-R. Oh, “Concurrent Control of Position/Orientation of a Redundant Manipulator based on Virtual Spring-Damper Hypothesis”, in Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 6045-6050, 2011.

  5. S.-K. Kim, J.-H. Bae, Y. Oh, and D. Kim, “7-DOF Redundant Manipulator Control using Quaternion Feedback based on Virtual Spring-Damper Hypothesis”, in Proceedings of the 5th International Conference on the Advanced Mechatronics (ICAM), pp. 87-92, 2010.

Humanoid

  1. S.-K. Kim, D.-h. Lee, S. Hong, Y. Oh, and S.-R. Oh, “From Human Motion Analysis to Whole-Body Control of a Dual-Arm Robot for Pick-and-Place Tasks”, in Proceedings of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1155-1161, 2013.

  2. S.-K. Kim, S. Hong, D. Kim, Y. Oh, B.-J. You, and S.-R. Oh, “Online Footprint Imitation of a Humanoid Robot by Walking Motion Parameterization”, in Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2692-2697, 2010.

  3. S.-K. Kim, S. Hong, and D. Kim, “A Walking Motion Imitation Framework of a Humanoid Robot by Human Walking Recognition from IMU Motion Data”, in Proceedings of the 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 343-348, 2009.

  4. S.-K. Kim, E.-H. Seo, D. Kim, B.-J. You, and S.-R. Oh, “Real-time Control Method of Humanoid Robot for Human Motion Imitation”, in Proceedings of the 4th Korea Robotics Society Annual Conference (KRoC), pp. 95-96, 2010.

  5. S.-K. Kim, S. Ra, D. Kim, B.-J. You, and S.-R. Oh, “Real-time Motion Imitation Control of a Humanoid Robot with Non-real-time Motion Data”, in Proceedings of the 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 269-272, 2009.

Medical Robot

  1. W.-H. Shin, S.-K. Kim, and D.-S. Kwon, “Development of a Flexible-rigid Endoscopic Robot System for NOTES”, in Proceedings of the 5th Asian Conference on Computer Aided Surgery (ACCAS), p. 128, 2009.

  2. S.-K. Kim, W.-H. Shin, J. Kim, and D.-S. Kwon, “Teleoperation Control of Compact Laparoscopic Surgical Robot System”, in Proceedings of Biodivision Conference of Korea Society of Mechanical Engineers (KMSE-Biodivision), pp. 86-87, 2008.

  3. S.-K. Kim, W.-H. Shin, S.-Y. Ko, J. Kim, and D.-S. Kwon, “Design of a Compact 5-DOF Surgical Robot of a Spherical Mechanism: CURES”, in Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 990-995, 2008.

Aeroelastics

  1. S.-K. Kim, T.-S. Kim, and S. Shin, “An Analysis on Vibratory Loads Reduction using Individual Blade Control in Active Helicopter Rotors”, Journal of the Korea Society of Aeronautical and Space Sciences, Vol. 35, No. 6, pp. 496-502, 2007.