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Donghyun Kim 0002

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affiliation: Massachusetts Institute of Technology, Cambridge, MA, USA
affiliation (former): The University of Texas at Austin, Department of Mechanical Engineering, TX, USA

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2020 – today

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2024
[j8]
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Shifan Zhu, Zixun Xiong, Donghyun Kim:
CEAR: Comprehensive Event Camera Dataset for Rapid Perception of Agile Quadruped Robots. IEEE Robotics Autom. Lett. 9(10): 8999-9006 (2024)
[c25]
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Hochul Hwang, Hee-Tae Jung, Nicholas A Giudice, Joydeep Biswas, Sunghoon Ivan Lee, Donghyun Kim:
Towards Robotic Companions: Understanding Handler-Guide Dog Interactions for Informed Guide Dog Robot Design. CHI 2024: 596:1-596:20
[c24]
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Hochul Hwang, Sunjae Kwon, Yekyung Kim, Donghyun Kim:
Is It Safe to Cross? Interpretable Risk Assessment with GPT-4V for Safety-Aware Street Crossing. UR 2024: 281-288
[c23]
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Neil Guan, Shangqun Yu, Shifan Zhu, Donghyun Kim:
Impedance Matching: Enabling an RL-Based Running Jump in a Quadruped Robot. UR 2024: 755-761
[i26]
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  - journals/corr/abs-2402-06790
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Hochul Hwang, Hee-Tae Jung, Nicholas A Giudice, Joydeep Biswas, Sunghoon Ivan Lee, Donghyun Kim:
Towards Robotic Companions: Understanding Handler-Guide Dog Interactions for Informed Guide Dog Robot Design. CoRR abs/2402.06790 (2024)
[i25]
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  - journals/corr/abs-2402-06794
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Hochul Hwang, Sunjae Kwon, Yekyung Kim, Donghyun Kim:
Is it safe to cross? Interpretable Risk Assessment with GPT-4V for Safety-Aware Street Crossing. CoRR abs/2402.06794 (2024)
[i24]
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  - journals/corr/abs-2404-05039
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Nisal Perera, Shangqun Yu, Daniel Marew, Mack Tang, Ken Suzuki, Aidan McCormack, Shifan Zhu, Yong-Jae Kim, Donghyun Kim:
StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe. CoRR abs/2404.05039 (2024)
[i23]
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  - journals/corr/abs-2404-15096
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Neil Guan, Shangqun Yu, Shifan Zhu, Donghyun Kim:
Impedance Matching: Enabling an RL-Based Running Jump in a Quadruped Robot. CoRR abs/2404.15096 (2024)
[i22]
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  - journals/corr/abs-2405-00260
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Yamato Okamoto, Youngmin Baek, Geewook Kim, Ryota Nakao, Donghyun Kim, Moonbin Yim, Seunghyun Park, Bado Lee:
CREPE: Coordinate-Aware End-to-End Document Parser. CoRR abs/2405.00260 (2024)
[i21]
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  - journals/corr/abs-2405-17227
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Shangqun Yu, Nisal Perera, Daniel Marew, Donghyun Kim:
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains. CoRR abs/2405.17227 (2024)
[i20]
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  - journals/corr/abs-2407-14612
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Daniel Marew, Nisal Perera, Shangqun Yu, Sarah Roelker, Donghyun Kim:
A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots. CoRR abs/2407.14612 (2024)
[i19]
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  - journals/corr/abs-2409-19778
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Hochul Hwang, Ken Suzuki, Nicholas A Giudice, Joydeep Biswas, Sunghoon Ivan Lee, Donghyun Kim:
Lessons Learned from Developing a Human-Centered Guide Dog Robot for Mobility Assistance. CoRR abs/2409.19778 (2024)
2023
[j7]
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  - journals/ijon/ZhangCYMWWMSKR23
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Zhongyang Zhang, Kaidong Chai, Haowen Yu, Ramzi Majaj, Francesca Walsh, Edward Jay Wang, Upal Mahbub, Hava T. Siegelmann, Donghyun Kim, Tauhidur Rahman:
Neuromorphic high-frequency 3D dancing pose estimation in dynamic environment. Neurocomputing 547: 126388 (2023)
[c22]
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Daniel Marew, Misha Lvovsky, Shangqun Yu, Shotaro Sessions, Donghyun Kim:
Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion. Humanoids 2023: 1-8
[c21]
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Hochul Hwang, Tim Xia, Ibrahima Keita, Ken Suzuki, Joydeep Biswas, Sunghoon Ivan Lee, Donghyun Kim:
System Configuration and Navigation of a Guide Dog Robot: Toward Animal Guide Dog-Level Guiding Work. ICRA 2023: 9778-9784
[c20]
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Shifan Zhu, Zhipeng Tang, Michael Yang, Erik G. Learned-Miller, Donghyun Kim:
Event Camera-Based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface. IROS 2023: 3475-3482
[i18]
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  - journals/corr/abs-2301-06648
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Zhongyang Zhang, Kaidong Chai, Haowen Yu, Ramzi Majaj, Francesca Walsh, Edward Jay Wang, Upal Mahbub, Hava T. Siegelmann, Donghyun Kim, Tauhidur Rahman:
Neuromorphic High-Frequency 3D Dancing Pose Estimation in Dynamic Environment. CoRR abs/2301.06648 (2023)
[i17]
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  - journals/corr/abs-2305-08962
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Shifan Zhu, Zhipeng Tang, Michael Yang, Erik G. Learned-Miller, Donghyun Kim:
Event Camera-based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface. CoRR abs/2305.08962 (2023)
[i16]
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  - journals/corr/abs-2312-07813
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Divyanshu Saxena, Nihal Sharma, Donghyun Kim, Rohit Dwivedula, Jiayi Chen, Chenxi Yang, Sriram Ravula, Zichao Hu, Aditya Akella, Sebastian Angel, Joydeep Biswas, Swarat Chaudhuri, Isil Dillig, Alex Dimakis, Philip Brighten Godfrey, Daehyeok Kim, Christopher J. Rossbach, Gang Wang:
On a Foundation Model for Operating Systems. CoRR abs/2312.07813 (2023)
2022
[j6]
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  - journals/scirobotics/Kim22
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Donghyun Kim:
Quadruped robots venture into the wild with open eyes. Sci. Robotics 7(62) (2022)
[c19]
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Se Hwan Jeon, Sangbae Kim, Donghyun Kim:
Online Optimal Landing Control of the MIT Mini Cheetah. ICRA 2022: 178-184
[i15]
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  - journals/corr/abs-2210-03713
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Daniel Marew, Misha Lvovsky, Shangqun Yu, Shotaro Sessions, Donghyun Kim:
Integration of Riemannian Motion Policy and Whole-Body Control for Dynamic Legged Locomotion. CoRR abs/2210.03713 (2022)
[i14]
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  - journals/corr/abs-2210-13368
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Hochul Hwang, Tim Xia, Ibrahima Keita, Ken Suzuki, Joydeep Biswas, Sunghoon Ivan Lee, Donghyun Kim:
System Configuration and Navigation of a Guide Dog Robot: Toward Animal Guide Dog-Level Guiding Work. CoRR abs/2210.13368 (2022)
2021
[j5]
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  - journals/firai/LeeAKBS21
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Jaemin Lee, Junhyeok Ahn, Donghyun Kim, SeungHyeon Bang, Luis Sentis:
Online Gain Adaptation of Whole-Body Control for Legged Robots with Unknown Disturbances. Frontiers Robotics AI 8: 788902 (2021)
[c18]
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  - conf/corl/MargolisCPFKKA21
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Gabriel B. Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sangbae Kim, Pulkit Agrawal:
Learning to Jump from Pixels. CoRL 2021: 1025-1034
[c17]
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Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones, Sangbae Kim:
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors. HUMANOIDS 2021: 1-8
[c16]
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Md Mahmudur Rahman, Tauhidur Rahman, Donghyun Kim, Mohammad Arif Ul Alam:
Knowledge Transfer across Imaging Modalities Via Simultaneous Learning of Adaptive Autoencoders for High-Fidelity Mobile Robot Vision. IROS 2021: 1267-1273
[i13]
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  - journals/corr/abs-2104-09025
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Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones, Sangbae Kim:
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors. CoRR abs/2104.09025 (2021)
[i12]
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  - journals/corr/abs-2105-05010
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Md Mahmudur Rahman, Tauhidur Rahman, Donghyun Kim, Mohammad Arif Ul Alam:
Knowledge Transfer across Imaging Modalities Via Simultaneous Learning of Adaptive Autoencoders for High-Fidelity Mobile Robot Vision. CoRR abs/2105.05010 (2021)
[i11]
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  - journals/corr/abs-2110-02799
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Se Hwan Jeon, Sangbae Kim, Donghyun Kim:
Real-time Optimal Landing Control of the MIT Mini Cheetah. CoRR abs/2110.02799 (2021)
[i10]
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  - journals/corr/abs-2110-15344
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Gabriel B. Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sangbae Kim, Pulkit Agrawal:
Learning to Jump from Pixels. CoRR abs/2110.15344 (2021)
2020
[j4]
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Donghyun Kim, Steven Jens Jorgensen, Jaemin Lee, Junhyeok Ahn, Jianwen Luo, Luis Sentis:
Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control. Int. J. Robotics Res. 39(8) (2020)
[j3]
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  - journals/robotica/LuoSRZKSF20
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Jianwen Luo, Yao Su, Lecheng Ruan, Ye Zhao, Donghyun Kim, Luis Sentis, Chenglong Fu:
Robust Bipedal Locomotion Based on a Hierarchical Control Structure - CORRIGENDUM. Robotica 38(4): 760 (2020)
[c15]
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  - conf/icra/KimCCKBLK20
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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: 2464-2470
[c14]
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  - conf/iros/DudzikCBLMKK20
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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: 3664-3671
[c13]
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  - conf/iros/EpsteinSKK20
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Lindsay Epstein, Andrew SaLoutos, Donghyun Kim, Sangbae Kim:
Bi-Modal Hemispherical Sensors for Dynamic Locomotion and Manipulation. IROS 2020: 7381

2010 – 2019

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2019
[j2]
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Jianwen Luo, Yao Su, Lecheng Ruan, Ye Zhao, Donghyun Kim, Luis Sentis, Chenglong Fu:
Robust Bipedal Locomotion Based on a Hierarchical Control Structure. Robotica 37(10): 1750-1767 (2019)
[c12]
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  - conf/humanoids/AhnKBPS19
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Junhyeok Ahn, Donghyun Kim, SeungHyeon Bang, Nick Paine, Luis Sentis:
Control of a High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators. Humanoids 2019: 146-153
[c11]
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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: 7968-7975
[i9]
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  - journals/corr/abs-1901-08100
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Donghyun Kim, Steven Jens Jorgensen, Jaemin Lee, Junhyeok Ahn, Jianwen Luo, Luis Sentis:
Dynamic Locomotion For Passive-Ankle Biped Robots And Humanoids Using Whole-Body Locomotion Control. CoRR abs/1901.08100 (2019)
[i8]
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  - journals/corr/abs-1906-03811
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Junhyeok Ahn, Donghyun Kim, SeungHyeon Bang, Nick Paine, Luis Sentis:
Control of A High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators. CoRR abs/1906.03811 (2019)
[i7]
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  - journals/corr/abs-1909-06586
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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 abs/1909.06586 (2019)
2018
[c10]
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Donghyun Kim, Steven Jens Jorgensen, Hochul Hwang, Luis Sentis:
Control Scheme and Uncertainty Considerations for Dynamic Balancing of Passive-Ankled Bipeds and Full Humanoids. Humanoids 2018: 1-9
[c9]
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Donghyun Kim, Jaemin Lee, Junhyeok Ahn, Orion Campbell, Hochul Hwang, Luis Sentis:
Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints. IROS 2018: 1-8
[c8]
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Junhyeok Ahn, Orion Campbell, Donghyun Kim, Luis Sentis:
Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles. IROS 2018: 177-184
[i6]
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  - journals/corr/abs-1807-01222
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Donghyun Kim, Jaemin Lee, Orion Campbell, Hochul Hwang, Luis Sentis:
Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints. CoRR abs/1807.01222 (2018)
[i5]
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Junhyeok Ahn, Orion Campbell, Donghyun Kim, Luis Sentis:
Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles. CoRR abs/1807.03415 (2018)
2017
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Donghyun Kim, Orion Campbell, Junhyeok Ahn, Luis Sentis, Nicholas Paine:
Investigations of viscoelastic liquid cooled actuators applied for dynamic motion control of legged systems. Humanoids 2017: 710-717
[c6]
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Jianwen Luo, Ye Zhao, Donghyun Kim, Oussama Khatib, Luis Sentis:
Locomotion control of three dimensional passive-foot biped robot based on whole body operational space framework. ROBIO 2017: 1577-1582
[i4]
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Steven Jens Jorgensen, Orion Campbell, Travis Llado, Donghyun Kim, Junhyeok Ahn, Luis Sentis:
Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical Systems. CoRR abs/1701.03839 (2017)
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  - journals/corr/abs-1708-02205
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Donghyun Kim, Jaemin Lee, Luis Sentis:
Robust Dynamic Locomotion via Reinforcement Learning and Novel Whole Body Controller. CoRR abs/1708.02205 (2017)
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  - journals/corr/abs-1711-01649
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Donghyun Kim, Junhyeok Ahn, Orion Campbell, Nicholas Paine, Luis Sentis:
Investigations of a Robotic Testbed with Viscoelastic Liquid Cooled Actuators. CoRR abs/1711.01649 (2017)
2016
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  - journals/trob/KimZTFS16
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Donghyun Kim, Ye Zhao, Gray C. Thomas, Benito R. Fernández, Luis Sentis:
Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control. IEEE Trans. Robotics 32(6): 1362-1379 (2016)
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Donghyun Kim, Steven Jens Jorgensen, Peter Stone, Luis Sentis:
Dynamic behaviors on the NAO robot with closed-loop whole body operational space control. Humanoids 2016: 1121-1128
2015
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Donghyun Kim, Gray C. Thomas, Luis Sentis:
A method for dynamically balancing a point foot robot. Humanoids 2015: 901-907
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  - conf/hybrid/ZhaoKTS15
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Ye Zhao, Donghyun Kim, Gray C. Thomas, Luis Sentis:
Hybrid multi-contact dynamics for wedge jumping locomotion behaviors. HSCC 2015: 293-294
[i1]
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Donghyun Kim, Ye Zhao, Gray C. Thomas, Luis Sentis:
Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking. CoRR abs/1501.02855 (2015)
2014
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  - conf/icarcv/KimTS14
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Donghyun Kim, Gray C. Thomas, Luis Sentis:
Continuous cyclic stepping on 3D point-foot biped robots via constant time to velocity reversal. ICARCV 2014: 1637-1643
2013
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  - conf/humanoids/ZhaoKFS13
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Ye Zhao, Donghyun Kim, Benito R. Fernández, Luis Sentis:
Phase space planning and robust control for data-driven locomotion behaviors. Humanoids 2013: 80-87

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