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Donghyun Kim

Assistant Professor, CICS. Adjunct Professor, MIE.
Director, Dynamic and Autonomous Robotic Systems (DARoS) Laboratory
Core Faculty

BIO

I am Donghyun Kim, an Assistant professor at UMass Amherst CICS and the leader of DARoS Lab. My primary research area is in the dynamic locomotion of legged systems with a focus on the development of control architectures and their experimental validation. My research purpose is to make robots be practical tools for human life by enhancing the robotic systems faster, smarter, and robust. (e-mail: donghyunkim@cs.umass.edu) [Curriculum Vitae]

Recent Publications

Hwang, H., Jung, H. T., Giudice, N. A., Biswas, J., Lee, S. I., & Kim, D. (2024). Towards Robotic Companions: Understanding Handler-Guide Dog Interactions for Informed Guide Dog Robot Design. In Proceedings of the 2024 CHI Conference on Human Factors in Computing Systems
Zhu, S., Tang, Z., Yang, M., Learned-Miller, E., & Kim, D. (2023). Event Camera-based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface. IROS
Marew, D., Lvovsky, M., Yu, S., Sessions, S., & Kim, D. (2022). Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion. Humanoid 2023
Hwang, H., Xia, T., Keita, I., Suzuki, K., Biswas, J., Lee, S. I., & Kim, D. (2023, May). System configuration and navigation of a guide dog robot: Toward animal guide dog-level guiding work. In 2023 IEEE International Conference on Robotics and Automation (ICRA) (pp. 9778-9784). IEEE.
Jeon, S. H., Kim, S., & Kim, D. (2022). Online Optimal Landing Control of the MIT Mini Cheetah. In 2022 International Conference on Robotics and Automation (ICRA) (pp. 178-184). IEEE.
Chignoli, M., Kim, D., Stanger-Jones, E., & Kim, S. (2021). The MIT humanoid robot: Design, motion planning, and control for acrobatic behaviors. In 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) (pp. 1-8). IEEE.
Kim, D., Carballo, D., Di Carlo, J., Katz, B., Bledt, G., Lim, B., & Kim, S. (2020). Vision aided dynamic exploration of unstructured terrain with a small-scale quadruped robot. In 2020 IEEE International Conference on Robotics and Automation (ICRA) (pp. 2464-2470). IEEE.
Kim, D., Jorgensen, S. J., Lee, J., Ahn, J., Luo, J., & Sentis, L. (2020). Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control. The International Journal of Robotics Research, 39(8), 936-956.
Kim, D., Ahn, J., Campbell, O., Paine, N., & Sentis, L. (2018). Investigations of a robotic test bed with viscoelastic liquid cooled actuators. IEEE/ASME Transactions on Mechatronics, 23(6), 2704-2714.
Kim, D., Jang, C., & Park, F. C. (2013). Kinematic feedback control laws for generating natural arm movements. Bioinspiration & Biomimetics, 9(1), 016002.
Dudzik, T., Chignoli, M., Bledt, G., Lim, B., Miller, A., Kim, D., & Kim, S. (2020). Robust autonomous navigation of a small-scale quadruped robot in real-world environments. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3664-3671). IEEE.
Epstein, L., SaLoutos, A., Kim, D., & Kim, S. (2020). Bi-Modal Hemispherical Sensors for Dynamic Locomotion and Manipulation. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7381-7381). IEEE.
Chuah, M. Y. M., Epstein, L., Kim, D., Romero, J., & Kim, S. (2019, November). Bi-modal hemispherical sensor: A unifying solution for three axis force and contact angle measurement. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7968-7975). IEEE.
Ahn, J., Kim, D., Bang, S., Paine, N., & Sentis, L. (2019, October). Control of a high performance bipedal robot using viscoelastic liquid cooled actuators. In 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) (pp. 146-153). IEEE.
Luo, J., Su, Y., Ruan, L., Zhao, Y., Kim, D., Sentis, L., & Fu, C. (2019). Robust bipedal locomotion based on a hierarchical control structure. Robotica, 37(10), 1750-1767.
Kim, D., Di Carlo, J., Katz, B., Bledt, G., & Kim, S. (2019). Highly dynamic quadruped locomotion via whole-body impulse control and model predictive control. arXiv preprint arXiv:1909.06586.
Kim, D., Jorgensen, S. J., Hwang, H., & Sentis, L. (2018, November). Control scheme and uncertainty considerations for dynamic balancing of passive-ankled bipeds and full humanoids. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) (pp. 1-9). IEEE.
Kim, D., Lee, J., Ahn, J., Campbell, O., Hwang, H., & Sentis, L. (2018, October). Computationally-robust and efficient prioritized whole-body controller with contact constraints. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1-8). IEEE.
Ahn, J., Campbell, O., Kim, D., & Sentis, L. (2018, October). Fast kinodynamic bipedal locomotion planning with moving obstacles. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 177-184). IEEE.
Kim, D. (2017). Sensor-based robust whole-body control of highly dynamic legged humanoid robots (Doctoral dissertation).
Kim, D., Campbell, O., Ahn, J., Sentis, L., & Paine, N. (2017, November). Investigations of viscoelastic liquid cooled actuators applied for dynamic motion control of legged systems. In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) (pp. 710-717). IEEE.
Jorgensen, S. J., Campbell, O., Llado, T., Kim, D., Ahn, J., & Sentis, L. (2017). Exploring model predictive control to generate optimal control policies for hri dynamical systems. arXiv preprint arXiv:1701.03839.
Kim, D., Lee, J., & Sentis, L. (2017). Robust dynamic locomotion via reinforcement learning and novel whole body controller. arXiv preprint arXiv:1708.02205.
Kim, D., Jorgensen, S. J., Stone, P., & Sentis, L. (2016, November). Dynamic behaviors on the NAO robot with closed-loop whole body operational space control. In 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) (pp. 1121-1128). IEEE.
Kim, D., Zhao, Y., Thomas, G., Fernandez, B. R., & Sentis, L. (2016). Stabilizing series-elastic point-foot bipeds using whole-body operational space control. IEEE Transactions on Robotics, 32(6), 1362-1379.
Kim, D., Thomas, G., & Sentis, L. (2015, November). A method for dynamically balancing a point foot robot. In 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) (pp. 901-907). IEEE.
Kim, D., Zhao, Y., Thomas, G., & Sentis, L. (2015). Assessing whole-body operational space control in a point-foot series elastic biped: Balance on split terrain and undirected walking. arXiv preprint arXiv:1501.02855.
Kim, D., Thomas, G., & Sentis, L. (2014). Continuous cyclic stepping on 3d point-foot biped robots via constant time to velocity reversal. In 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV) (pp. 1637-1643). IEEE.
Kim, D., Zhao, Y., Thomas, G., & Sentis, L. (2014). Empirical Modifications to a Phase Space Planner Which Compensates for Low Stiffness Actuation in a Planar, Point-Foot, Biped Robot. In Dynamic Systems and Control Conference (Vol. 46186, p. V001T11A001). American Society of Mechanical Engineers.
Zhao, Y., Kim, D. H., Fernandez, B., & Sentis, L. (2013). Phase space planning and robust control for data-driven locomotion behaviors. In 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids) (pp. 80-87). IEEE.
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Contact Information

Office
Lab Location: LGRC, A308
Office Location: LGRC, A325