Sangbae Kim

ORCID

Publication Activity (10 Years)

Years Active: 2002-2024
Publications (10 Years): 68

Top Venues

Publications

Jenny Zhang, Steve Heim, Se Hwan Jeon, Sangbae Kim
Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback. CoRR (2024)
Charles Khazoom, Seungwoo Hong, Matthew Chignoli, Elijah Stanger-Jones, Sangbae Kim
Tailoring Solution Accuracy for Fast Whole-body Model Predictive Control of Legged Robots. CoRR (2024)
Jenny Zhang, Steve Heim, Se Hwan Jeon, Sangbae Kim
Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback. ICRA (2024)
Yunlong Song, Sangbae Kim, Davide Scaramuzza
Learning Quadruped Locomotion Using Differentiable Simulation. CoRR (2024)
Chenhao Li, Elijah Stanger-Jones, Steve Heim, Sangbae Kim
FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning. CoRR (2024)
Chenhao Li, Elijah Stanger-Jones, Steve Heim, Sangbae Kim
FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning. ICLR (2024)
Andrew SaLoutos, Elijah Stanger-Jones, Menglong Guo, Hongmin Kim, Sangbae Kim
Design of a Multimodal Fingertip Sensor for Dynamic Manipulation. ICRA (2023)
Matthew Chignoli, Nicholas Adrian, Sangbae Kim, Patrick M. Wensing
Recursive Rigid-Body Dynamics Algorithms for Systems with Kinematic Loops. CoRR (2023)
Laura Schwendeman, Andrew SaLoutos, Elijah Stanger-Jones, Sangbae Kim
Improving Domain Transfer of Robot Dynamics Models with Geometric System Identification and Learned Friction Compensation. Humanoids (2023)
Sangbae Kim, Byoung S. Ham
Delayed-choice quantum erasure using Poisson-distributed photons. ICTC (2023)
Charles Khazoom, Steve Heim, Daniel Gonzalez Diaz, Sangbae Kim
Optimal Scheduling of Models and Horizons for Model Hierarchy Predictive Control. ICRA (2023)
Se Hwan Jeon, Steve Heim, Charles Khazoom, Sangbae Kim
Benchmarking Potential Based Rewards for Learning Humanoid Locomotion. CoRR (2023)
Ung Hee Lee, Tor Shepherd, Sangbae Kim, Avik De, Hao Su, Robert D. Gregg, Luke M. Mooney, Elliott J. Rouse
How to Model Brushless Electric Motors for the Design of Lightweight Robotic Systems. CoRR (2023)
Se Hwan Jeon, Steve Heim, Charles Khazoom, Sangbae Kim
Benchmarking Potential Based Rewards for Learning Humanoid Locomotion. ICRA (2023)
Andrew SaLoutos, Hongmin Kim, Elijah Stanger-Jones, Menglong Guo, Sangbae Kim
Towards Robust Autonomous Grasping with Reflexes Using High-Bandwidth Sensing and Actuation. ICRA (2023)
AJ Miller, Shamel Fahmi, Matthew Chignoli, Sangbae Kim
Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control. CoRR (2023)
Andrew SaLoutos, Elijah Stanger-Jones, Yanran Ding, Matthew Chignoli, Sangbae Kim
Design and Development of the MIT Humanoid: A Dynamic and Robust Research Platform. Humanoids (2023)
Taekyun Kim, Sangbae Kim, Dongjun Lee
Tunable Impact and Vibration Absorbing Neck for Robust Visual-Inertial State Estimation for Dynamic Legged Robots. IEEE Robotics Autom. Lett. 8 (3) (2023)
Matthew Chignoli, Savva Morozov, Sangbae Kim
Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping. ICRA (2022)
Charles Khazoom, Daniel Gonzalez Diaz, Yanran Ding, Sangbae Kim
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions. CoRR (2022)
Charles Khazoom, Daniel Gonzalez Diaz, Yanran Ding, Sangbae Kim
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions. Humanoids (2022)
Andrew SaLoutos, Elijah Stanger-Jones, Sangbae Kim
Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform. IROS (2022)
Andrew SaLoutos, Elijah Stanger-Jones, Sangbae Kim
Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform. CoRR (2022)
Yanran Ding, Charles Khazoom, Matthew Chignoli, Sangbae Kim
Dynamic Walking with Footstep Adaptation on the MIT Humanoid via Linear Model Predictive Control. CoRR (2022)
Andrew SaLoutos, Hongmin Kim, Elijah Stanger-Jones, Menglong Guo, Sangbae Kim
Towards Robust Autonomous Grasping with Reflexes Using High-Bandwidth Sensing and Actuation. CoRR (2022)
Charles Khazoom, Sangbae Kim
Humanoid Arm Motion Planning for Improved Disturbance Recovery Using Model Hierarchy Predictive Control. ICRA (2022)
Andrew SaLoutos, Elijah Stanger-Jones, Menglong Guo, Hongmin Kim, Sangbae Kim
Design of a Multimodal Fingertip Sensor for Dynamic Manipulation. CoRR (2022)
Se Hwan Jeon, Sangbae Kim, Donghyun Kim
Online Optimal Landing Control of the MIT Mini Cheetah. ICRA (2022)
Yanran Ding, Charles Khazoom, Matthew Chignoli, Sangbae Kim
Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking. Humanoids (2022)
Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones, Sangbae Kim
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors. CoRR (2021)
Gabriel B. Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sangbae Kim, Pulkit Agrawal
Learning to Jump from Pixels. CoRL (2021)
Matthew Chignoli, Sangbae Kim
Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot. ICRA (2021)
Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones, Sangbae Kim
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors. HUMANOIDS (2021)
Matthew Chignoli, Savva Morozov, Sangbae Kim
Rapid and Reliable Trajectory Planning Involving Omnidirectional Jumping of Quadruped Robots. CoRR (2021)
Hae-Won Park, Patrick M. Wensing, Sangbae Kim
Jumping over obstacles with MIT Cheetah 2. Robotics Auton. Syst. 136 (2021)
Gabriel B. Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sangbae Kim, Pulkit Agrawal
Learning to Jump from Pixels. CoRR (2021)
Matthew Chignoli, Sangbae Kim
Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot. CoRR (2021)
Se Hwan Jeon, Sangbae Kim, Donghyun Kim
Real-time Optimal Landing Control of the MIT Mini Cheetah. CoRR (2021)
Donghyun Kim, D. Carballo, Jared Di Carlo, Benjamin Katz, Gerardo Bledt, Bryan Lim, Sangbae Kim
Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot. ICRA (2020)
Lindsay Epstein, Andrew SaLoutos, Donghyun Kim, Sangbae Kim
Bi-Modal Hemispherical Sensors for Dynamic Locomotion and Manipulation. IROS (2020)
Gerardo Bledt, Sangbae Kim
Extracting Legged Locomotion Heuristics with Regularized Predictive Control. ICRA (2020)
Thomas Dudzik, Matthew Chignoli, Gerardo Bledt, Bryan Lim, Adam Miller, Donghyun Kim, Sangbae Kim
Robust Autonomous Navigation of a Small-Scale Quadruped Robot in Real-World Environments. IROS (2020)
Meng Yee Michael Chuah, Lindsay Epstein, Donghyun Kim, Juan Romero, Sangbae Kim
Bi-Modal Hemispherical Sensor: A Unifying Solution for Three Axis Force and Contact Angle Measurement. IROS (2019)
Benjamin Katz, Jared Di Carlo, Sangbae Kim
Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control. ICRA (2019)
Donghyun Kim, Jared Di Carlo, Benjamin Katz, Gerardo Bledt, Sangbae Kim
Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control. CoRR (2019)
João Ramos, Sangbae Kim
Dynamic locomotion synchronization of bipedal robot and human operator via bilateral feedback teleoperation. Sci. Robotics 4 (35) (2019)
Gerardo Bledt, Sangbae Kim
Implementing Regularized Predictive Control for Simultaneous Real-Time Footstep and Ground Reaction Force Optimization. IROS (2019)
Quan Nguyen, Matthew J. Powell, Benjamin Katz, Jared Di Carlo, Sangbae Kim
Optimized Jumping on the MIT Cheetah 3 Robot. ICRA (2019)
Chiheb Boussema, Matthew J. Powell, Gerardo Bledt, Auke Jan Ijspeert, Patrick M. Wensing, Sangbae Kim
Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set. IEEE Robotics Autom. Lett. 4 (2) (2019)
Gerardo Bledt, Patrick M. Wensing, Sam Ingersoll, Sangbae Kim
Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains. ICRA (2018)
Patrick M. Wensing, Sangbae Kim, Jean-Jacques E. Slotine
Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution. IEEE Robotics Autom. Lett. 3 (1) (2018)
Gerardo Bledt, Matthew J. Powell, Benjamin Katz, Jared Di Carlo, Patrick M. Wensing, Sangbae Kim
MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot. IROS (2018)
João Ramos, Sangbae Kim
Dynamic Bilateral Teleoperation of the Cart-Pole: A Study Toward the Synchronization of Human Operator and Legged Robot. IEEE Robotics Autom. Lett. 3 (4) (2018)
Sehyuk Yim, Cynthia R. Sung, Shuhei Miyashita, Daniela Rus, Sangbae Kim
Animatronic soft robots by additive folding. Int. J. Robotics Res. 37 (6) (2018)
João Ramos, Sangbae Kim
Humanoid Dynamic Synchronization Through Whole-Body Bilateral Feedback Teleoperation. IEEE Trans. Robotics 34 (4) (2018)
João Ramos, Benjamin Katz, Meng Yee Michael Chuah, Sangbae Kim
Facilitating Model-Based Control Through Software-Hardware Co-Design. ICRA (2018)
Jared Di Carlo, Patrick M. Wensing, Benjamin Katz, Gerardo Bledt, Sangbae Kim
Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control. IROS (2018)
Patrick M. Wensing, Albert Wang, Sangok Seok, David Otten, Jeffrey Lang, Sangbae Kim
Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots. IEEE Trans. Robotics 33 (3) (2017)
Sangbae Kim, Patrick M. Wensing
Design of Dynamic Legged Robots. Found. Trends Robotics 5 (2) (2017)
João Ramos, Sangbae Kim
Improving humanoid posture Teleoperation by Dynamic Synchronization through operator motion anticipation. ICRA (2017)
Hae-Won Park, Patrick M. Wensing, Sangbae Kim
High-speed bounding with the MIT Cheetah 2: Control design and experiments. Int. J. Robotics Res. 36 (2) (2017)
Sehyuk Yim, Shuhei Miyashita, Daniela Rus, Sangbae Kim
Teleoperated Micromanipulation System Manufactured by Cut-and-Fold Techniques. IEEE Trans. Robotics 33 (2) (2017)
Cynthia R. Sung, Rhea Lin, Shuhei Miyashita, Sehyuk Yim, Sangbae Kim, Daniela Rus
Self-folded soft robotic structures with controllable joints. ICRA (2017)
Gerardo Bledt, Patrick M. Wensing, Sangbae Kim
Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah. IROS (2017)
João Ramos, Albert Wang, Sangbae Kim
Robot-human balance state transfer during full-body humanoid teleoperation using Divergent Component of Motion dynamics. ICRA (2016)
Will Bosworth, Jonas Whitney, Sangbae Kim, Neville Hogan
Robot locomotion on hard and soft ground: Measuring stability and ground properties in-situ. ICRA (2016)
Dong Jin Hyun, Jongwoo Lee, SangIn Park, Sangbae Kim
Implementation of trot-to-gallop transition and subsequent gallop on the MIT Cheetah I. Int. J. Robotics Res. 35 (13) (2016)
Meng Yee Chuah, Sangbae Kim
Improved normal and shear tactile force sensor performance via Least Squares Artificial Neural Network (LSANN). ICRA (2016)
João Ramos, Albert Wang, Sangbae Kim
A Balance Feedback Human Machine Interface for humanoid teleoperation in dynamic tasks. IROS (2015)
João Ramos, Albert Wang, Wyatt Ubellacker, John Mayo, Sangbae Kim
A balance feedback interface for whole-body teleoperation of a humanoid robot and implementation in the HERMES system. Humanoids (2015)
Xu Sun, Samuel M. Felton, Robert J. Wood, Sangbae Kim
Printing angle sensors for foldable robots. IROS (2015)
William Bosworth, Sangbae Kim, Neville Hogan
The MIT super mini cheetah: A small, low-cost quadrupedal robot for dynamic locomotion. SSRR (2015)
Hae-Won Park, SangIn Park, Sangbae Kim
Variable-speed quadrupedal bounding using impulse planning: Untethered high-speed 3D Running of MIT Cheetah 2. ICRA (2015)
Sehyuk Yim, Sangbae Kim
Origami-inspired printable tele-micromanipulation system. ICRA (2015)
Albert Wang, João Ramos, John Mayo, Wyatt Ubellacker, Justin Cheung, Sangbae Kim
The HERMES humanoid system: A platform for full-body teleoperation with balance feedback. Humanoids (2015)
Ryuma Niiyama, Xu Sun, Lining Yao, Hiroshi Ishii, Daniela Rus, Sangbae Kim
Sticky Actuator: Free-Form Planar Actuators for Animated Objects. Tangible and Embedded Interaction (2015)
Hae-Won Park, Patrick M. Wensing, Sangbae Kim
Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds. Robotics: Science and Systems (2015)
Albert Wang, Sangbae Kim
Directional efficiency in geared transmissions: Characterization of backdrivability towards improved proprioceptive control. ICRA (2015)
Lindsay Sanneman, Deborah Ajilo, Joseph DelPreto, Ankur M. Mehta, Shuhei Miyashita, Negin Abdolrahim Poorheravi, Cami Ramirez, Sehyuk Yim, Sangbae Kim, Daniela Rus
A Distributed Robot Garden System. ICRA (2015)
J. G. Daniël Karssen, Matt Haberland, Martijn Wisse, Sangbae Kim
The effects of swing-leg retraction on running performance: analysis, simulation, and experiment. Robotica 33 (10) (2015)
Xu Sun, Samuel M. Felton, Ryuma Niiyama, Robert J. Wood, Sangbae Kim
Self-folding and self-actuating robots: A pneumatic approach. ICRA (2015)
William Bosworth, Sangbae Kim, Neville Hogan
The effect of leg impedance on stability and efficiency in quadrupedal trotting. IROS (2014)
Sangok Seok, Dong Jin Hyun, SangIn Park, David Otten, Sangbae Kim
A highly parallelized control system platform architecture using multicore CPU and FPGA for multi-DoF robots. ICRA (2014)
Dong Jin Hyun, Sangok Seok, Jongwoo Lee, Sangbae Kim
High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah. Int. J. Robotics Res. 33 (11) (2014)
Jongwoo Lee, Dong Jin Hyun, Jooeun Ahn, Sangbae Kim, Neville Hogan
On the dynamics of a quadruped robot model with impedance control: Self-stabilizing high speed trot-running and period-doubling bifurcations. IROS (2014)
Yong-Jae Kim, Shanbao Cheng, Sangbae Kim, Karl Iagnemma
A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery. IEEE Trans. Robotics 30 (2) (2014)
Hae-Won Park, Meng Yee Chuah, Sangbae Kim
Quadruped bounding control with variable duty cycle via vertical impulse scaling. IROS (2014)
Ryuma Niiyama, Daniela Rus, Sangbae Kim
Pouch Motors: Printable/inflatable soft actuators for robotics. ICRA (2014)
Sangok Seok, Albert Wang, Meng Yee Chuah, David Otten, Jeffrey Lang, Sangbae Kim
Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot. ICRA (2013)
Yong-Jae Kim, Shanbao Cheng, Sangbae Kim, Karl Iagnemma
A Novel Layer Jamming Mechanism With Tunable Stiffness Capability for Minimally Invasive Surgery. IEEE Trans. Robotics 29 (4) (2013)
Sangok Seok, Albert Wang, David Otten, Sangbae Kim
Actuator design for high force proprioceptive control in fast legged locomotion. IROS (2012)
Andres K. Valenzuela, Sangbae Kim
Optimally Scaled Hip-Force Planning: A control approach for quadrupedal running. ICRA (2012)
Gerrit A. Folkertsma, Sangbae Kim, Stefano Stramigioli
Parallel stiffness in a bounding quadruped with flexible spine. IROS (2012)
Meng Yee Chuah, Matthew Estrada, Sangbae Kim
Composite force sensing foot utilizing volumetric displacement of a hyperelastic polymer. IROS (2012)
Yong-Jae Kim, Shanbao Cheng, Sangbae Kim, Karl Iagnemma
Design of a tubular snake-like manipulator with stiffening capability by layer jamming. IROS (2012)
Randall Briggs, Jongwoo Lee, Matt Haberland, Sangbae Kim
Tails in biomimetic design: Analysis, simulation, and experiment. IROS (2012)
Arvind Ananthanarayanan, Shaohui Foong, Sangbae Kim
A compact two DOF magneto-elastomeric force sensor for a running quadruped. ICRA (2012)
J. G. Daniël Karssen, Matt Haberland, Martijn Wisse, Sangbae Kim
The optimal swing-leg retraction rate for running. ICRA (2011)
Matt Haberland, J. G. Daniël Karssen, Sangbae Kim, Martijn Wisse
The effect of swing leg retraction on running energy efficiency. IROS (2011)
Sangok Seok, Cagdas Denizel Onal, Robert J. Wood, Daniela Rus, Sangbae Kim
Peristaltic locomotion with antagonistic actuators in soft robotics. ICRA (2010)

Sangbae Kim.css-eqlu8i{font-size:small;padding-left:4px;}

Publication Activity (10 Years)

Top Topics

Top Venues

Sangbae Kim