Joo Hyun Kim

2022

PARTITION-AWARE STABILITY CONTROL FOR HUMANOID ROBOT PUSH RECOVERY

Song, H., Peng, W. Z. & Kim, J. H., 2022, 46th Mechanisms and Robotics Conference (MR). American Society of Mechanical Engineers (ASME), V007T07A038. (Proceedings of the ASME Design Engineering Technical Conference; vol. 7).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2021

Reduced-order model with foot tipping allowance for legged balancing

Peng, W. Z., Song, H. & Kim, J. H., 2021, 45th Mechanisms and Robotics Conference (MR). American Society of Mechanical Engineers (ASME), V08BT08A011. (Proceedings of the ASME Design Engineering Technical Conference; vol. 8B-2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2020

Normalized Criteria and Comparative Analysis of Legged Stability

Peng, W. Z. & Kim, J. H., Nov 2020, 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020. IEEE Computer Society, p. 803-808 6 p. 9224423. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; vol. 2020-November).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Stability Criteria of Balanced and Steppable Unbalanced States for Full-Body Systems with Implications in Robotic and Human Gait

Peng, W. Z., Mummolo, C. & Kim, J. H., May 2020, 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. Institute of Electrical and Electronics Engineers Inc., p. 9789-9795 7 p. 9196820. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Stability region-based analysis of walking and push recovery control

Peng, W. Z., Song, H. & Kim, J. H., 2020, 44th Mechanisms and Robotics Conference (MR). American Society of Mechanical Engineers (ASME), V010T10A056. (Proceedings of the ASME Design Engineering Technical Conference; vol. 10).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2019

Whole-body balancing criteria for biped robots in sagittal plane

Mummolo, C., Peng, W. Z. & Kim, J. H., 2019, 43rd Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), (Proceedings of the ASME Design Engineering Technical Conference; vol. 5A-2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2018

Sensitivity of balancing in legged systems under torque constraint variations

Gonzalez, C., Mummolo, C. & Kim, J. H., 2018, 42nd Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), (Proceedings of the ASME Design Engineering Technical Conference; vol. 5B-2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2017

Contact-dependent balance stability of walking robots

Mummolo, C., Peng, W. Z., Gonzalez, C. & Kim, J. H., 2017, 41st Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), (Proceedings of the ASME Design Engineering Technical Conference; vol. 5A-2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2016

Balanced and falling states for biped systems: Applications to robotic versus human walking stability

Mummolo, C., Cursi, F. & Kim, J. H., Dec 30 2016, Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots. IEEE Computer Society, p. 1155-1160 6 p. 7803416. (IEEE-RAS International Conference on Humanoid Robots).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Estimation of balance stability states for legged robotic systems

Mummolo, C., Mangialardi, L. & Kim, J. H., 2016, 40th Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), (Proceedings of the ASME Design Engineering Technical Conference; vol. 5A-2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2015

Computational metabolic energy expenditure model with novel heat dissipation formulation

Peng, W. & Kim, J. H., 2015, 35th Computers and Information in Engineering Conference. American Society of Mechanical Engineers (ASME), (Proceedings of the ASME Design Engineering Technical Conference; vol. 1A-2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Degree-of-freedom-based instantaneous energetic cost of robotic biped gait with benchmarking implications

Roberts, D., Quacinella, J. & Kim, J. H., 2015, 39th Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), (Proceedings of the ASME Design Engineering Technical Conference; vol. 5C-2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Identification of balanced states for multi-segmental legged robots using reduced-order model

Mummolo, C., Mangialardi, L. & Kim, J. H., Dec 22 2015, Humanoids 2015: Humanoids in the New Media Age - IEEE RAS International Conference on Humanoid Robots. IEEE Computer Society, p. 914-919 6 p. 7363470. (IEEE-RAS International Conference on Humanoid Robots; vol. 2015-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Loaded versus unloaded gait balance stability: A measure of dynamic walking

Mummolo, C., Park, S., Mangialardi, L. & Kim, J. H., 2015, 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. American Society of Mechanical Engineers (ASME), (Proceedings of the ASME Design Engineering Technical Conference; vol. 6).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2014

Contact status optimization of multibody dynamic systems using dual variable transformation

Mummolo, C., Mangialardi, L. & Kim, J. H., 2014, 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. American Society of Mechanical Engineers (ASME), (Proceedings of the ASME Design Engineering Technical Conference; vol. 6).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Fall initiation criteria for three-dimensional multi-segmental model of biped robot

Joo, C. B. & Kim, J. H., 2014, 38th Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), (Proceedings of the ASME Design Engineering Technical Conference; vol. 5B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Human stair ascent and descent simulations

Xiang, Y., Chung, H. J., Kwon, H. J., Kim, J. H. & Yang, J., 2014, 34th Computers and Information in Engineering Conference. American Society of Mechanical Engineers (ASME), (Proceedings of the ASME Design Engineering Technical Conference; vol. 1A).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Joint-space dynamic model of metabolic cost with subject-specific energetic parameters

Roberts, D., Hillstrom, H. & Kim, J. H., 2014, 34th Computers and Information in Engineering Conference. American Society of Mechanical Engineers (ASME), (Proceedings of the ASME Design Engineering Technical Conference; vol. 1A).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2013

Balancing of legged mechanism with multiple segments

Joo, C. B. & Kim, J. H., 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 5683-5688 6 p. 6631394. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

SQP-based mobile manipulator motion planning with controlled infeasibility for physically valid task failure

Joo, C. B. & Kim, J. H., 2013, 37th Mechanisms and Robotics Conference. American Society of Mechanical Engineers, V06AT07A075. (Proceedings of the ASME Design Engineering Technical Conference; vol. 6 A).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2012

Controlled infeasibility for physically feasible optimal motion planning of manipulators

Kim, J. H. & Joo, C. B., 2012, ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012. PARTS A AND B ed. p. 1339-1345 7 p. (Proceedings of the ASME Design Engineering Technical Conference; vol. 4, no. PARTS A AND B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Criteria and motion generation for multi-segmental legged balancing

Joo, C. B. & Kim, J. H., 2012, ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012. PARTS A AND B ed. p. 919-926 8 p. (Proceedings of the ASME Design Engineering Technical Conference; vol. 4, no. PARTS A AND B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

DC motor energetics in redundant manipulators with application to walking robots

Roberts, D. P. & Kim, J. H., 2012, ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012. PARTS A AND B ed. p. 927-934 8 p. (Proceedings of the ASME Design Engineering Technical Conference; vol. 4, no. PARTS A AND B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Experimental analysis for passive and dynamic gait measures of biped walking

Mummolo, C., Mangialardi, L. & Kim, J. H., 2012, ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012. p. 25-32 8 p. (ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012; vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Predicting energy consumption in humans using joint space methods

Roberts, D. P. & Kim, J. H., 2012, ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012. PARTS A AND B ed. p. 673-679 7 p. (Proceedings of the ASME Design Engineering Technical Conference; vol. 3, no. PARTS A AND B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Testing pressurized spacesuit glove torque with an anthropomorphic robotic hand

Roberts, D. P., Poon, J., Patrick, D. & Kim, J. H., 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 1520-1525 6 p. 6225123. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2011

How dynamic is dynamic walking? Human vs. robotic gait

Mummolo, C. & Kim, J. H., 2011, ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011. PARTS A AND B ed. p. 1159-1165 7 p. (Proceedings of the ASME Design Engineering Technical Conference; vol. 6, no. PARTS A AND B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Identification of balanced state domain for single-support legged mechanism

Kim, J. H. & Joo, C. B., 2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011. p. 231-237 7 p. (ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011; vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2010

Determining the static joint torques of a digital human model considering balance

Yang, J., Kim, J. & Xiang, Y., 2010, Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART A ed. p. 399-409 11 p. (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; vol. 7, no. PART A).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dynamic motion generation for redundant systems under external constraints

Kim, J. H., Abdel-Malek, K., Xiang, Y., Yang, J. & Arora, J. S., 2010, ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010. PARTS A AND B ed. p. 1539-1546 8 p. (Proceedings of the ASME Design Engineering Technical Conference; vol. 2, no. PARTS A AND B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Maximum distance throwing simulation and analysis

Kim, J. H., 2010, ASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010. PARTS A AND B ed. p. 781-787 7 p. (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); vol. 8, no. PARTS A AND B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Motion planning of optimal throw for whole-body humanoid

Kim, J. H., 2010, 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010. p. 21-26 6 p. 5686315. (2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Motion planning under external constraints for redundant dynamic systems

Kim, J. H., Abdel-Malek, K., Xiang, Y., Yang, J. & Arora, J. S., 2010, ASME 2010 Dynamic Systems and Control Conference, DSCC2010. p. 263-270 8 p. (ASME 2010 Dynamic Systems and Control Conference, DSCC2010; vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Optimal throwing motion planning for a biped human mechanism

Kim, J. H., Xiang, Y., Yang, J., Abdel-Malek, K. & Arora, J. S., 2010, Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART B ed. p. 929-936 8 p. (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; vol. 7, no. PART B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2009

Efficient zmp formulation and effective whole-body motion generation for a human-like mechanism

Kim, J. H., Xiang, Y., Bhatt, R., Yang, J., Chung, H. J., Patrick, A., Arora, J. S. & Abdel-Malek, K., 2009, 2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008. PART B ed. p. 1073-1084 12 p. (2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008; vol. 2, no. PART B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Joint Coupling for Human Shoulder Complex

Yang, J., Feng, X., Kim, J. H., Xiang, Y. & Rajulu, S., 2009, Digital Human Modeling - Second International Conference, ICDHM 2009 - Held as Part of HCI International 2009, Proceedings. p. 72-81 10 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 5620 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Optimal trajectory planning for redundant manipulators based on minimum jerk

Yang, J., Kim, J., Pitarch, E. P. & Abdel-Malek, K., 2009, 2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008. PART B ed. Vol. 2. p. 1141-1150 10 p. (Proceedings of the ASME Design Engineering Technical Conference; vol. 2, no. PARTS A AND B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2008

A new method for determining joint constraint forces and moments during optimal dynamic motion of redundant manipulators

Kim, J. H., Yang, J. & Abdel-Malek, K., 2008, 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. p. 161-172 12 p. (2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007; vol. 5 PART A).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dynamic optimization of human stair-climbing motion

Bhatt, R., Xiang, Y., Kim, J. H., Mathai, A., Penmatsa, R., Chung, H. J., Kwon, H. J., Patrick, A., Rahmatalla, S., Marler, T., Beck, S., Yang, J., Arora, J., Abdel-Malek, K. & Obusek, J. P., 2008, Digital Human Modeling for Design and Engineering Conference and Exhibition.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

General biped motion and balance of a human model

Kim, J. H., Xiang, Y., Bhatt, R., Yang, J., Chung, H. J., Patrick, A., Mathai, A. J., Arora, J. S., Abdel-Malek, K. & Obusek, J. P., 2008, Digital Human Modeling for Design and Engineering Conference and Exhibition.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Load-effective dynamic motion planning for redundant manipulators

Kim, J. H., Yang, J. & Abdel-Malek, K., 2008, 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. p. 1151-1164 14 p. (2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007; vol. 8 PART B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Optimization-based dynamic human lifting prediction

Xiang, Y., Rahmatalla, S., Chung, H. J., Kim, J. H., Bhatt, R., Mathai, A., Beck, S., Marler, T., Yang, J., Arora, J. S., Abdel-Malek, K. & Obusek, J. P., 2008, Digital Human Modeling for Design and Engineering Conference and Exhibition.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Throwing motion generation of a biped human model

Kim, J. H., Xiang, Y., Bhatt, R., Yang, J., Arora, J. S. & Abdel-Malek, K., 2008, Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. p. 587-592 6 p. 4762900. (Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2007

A robust formulation for prediction of human running

Chung, H. J., Xiang, Y., Mathai, A., Rahmatalla, S., Kim, J. H., Marler, T., Beck, S., Yang, J., Arora, J., Abdel-Malek, K. & Obusek, J., 2007, Digital Human Modeling for Design and Engineering Conference and Exhibition.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Development of the virtual-human Santos™

Abdel-Malek, K., Yang, J., Kim, J. H., Marler, T., Beck, S., Swan, C., Frey-Law, L., Mathai, A., Murphy, C., Rahmatallah, S. & Arora, J., 2007, Digital Human Modeling - First International Conference on Digital Human Modeling, ICDHM 2007. Held as Part of HCI International 2007, Proceedings. p. 490-499 10 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 4561 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dual-arm dynamic motion simulation and prediction of joint constraint loads using optimization

Kim, J. H., Abdel-Malek, K., Yang, J. & Nebel, K. J., 2007, Digital Human Modeling for Design and Engineering Conference and Exhibition.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Optimization-based dynamic human walking prediction

Xiang, Y., Chung, H. J., Mathai, A., Rahmatalla, S., Kim, J. H., Marler, T., Beck, S., Yang, J., Arora, J. S., Abdel-Malek, K. & Obusek, J., 2007, Digital Human Modeling for Design and Engineering Conference and Exhibition.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2006

Joo Hyun Kim

Research output

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