PROJECTS
I was involved in many projects including but not limited to...
LEARNING STIFFNESS CONTROL FOR OBJECT MANIPULATION
Current state-of-the-art research in dexterous manipulation shows no regard for safe object manipulation. The problem is in the difficulty of collecting compliant control demonstrations. I propose a way to bypass this obstacle.
PASSIVITY-BASED OPTIMIZATION FOR STIFFNESS CONTROL
In this research, I propose a design optimization scheme for stiffness-controlled compliant robots. I utilize the actuator-level passivity to achieve overall reliability.
COLLISION-FREE OPTIMAL PATH PLANNING
Based on the informed RRT*, I introduce a path pruning strategy that intermittently shrinks the search space, leading to the shortest collision-free path in configuration space.
EXOSKELETON CONTROLLER WITH HAPTIC FEEDBACK
I was in charge of designing and data handling in a hand exoskeleton project. This exoskeleton which captures the user's hand motion more accurately than currently commercialized VR gloves at a much more affordable cost.
VISUAL SERVOING FOR AUTOMATED ASSEMBLY
I implemented image-based visual servoing on a 6-DOF industrial manipulator to automate the USB insertion task.
SKILLS & TOOLS
DESIGN
Solidworks, ADAMS, ProE
I usually use SolidWorks to prototype 3D printable parts before moving onto machining them.
CONTROL
MATLAB, C/C++, Python, ROS
I mostly run actual robots in C/Python/LabView and simulations in MATLAB. I am most familiar with Python and MATLAB. I have some experience with ROS.
MANUFACTURE
Mastercam X, Machine Shop Experience
I have experience with CNC, lathing and drilling machines. This has greatly helped me design robots that are easy to manufacture and maintain.
REINFORCEMENT LEARNING
PyTorch, Tensorflow
I have experience writing my own scripts, but I mostly modify existing baselines to accommodate my research on the learning side.
PROFESSIONAL EXPERIENCE
RESEARCH ASSISTANT (PH.D.)
Spring 2020 - Present
My research focuses on improving the quality of object manipulation via integrated control of hardware and software. Stay in touch to hear about the latest research outcome!
TEACHING ASSISTANT (PH.D.)
Fall 2018 - Fall 2019
I am a teaching assistant in mechatronics lab course for undergraduates in UT Austin. I'm responsible for lab lectures, experiments, office hours and grading. I received a TA certificate in 2019.
RESEARCHER
Fall 2015 - Spring 2018
I was one of the main researchers at CHIC, which is a Korean government organization. CHIC's purpose was to integrate humans and robots in reality with VR. Total funding amount designated to CHIC was roughly 100 million USD. I was in charge of the project CHICAP.
RESEARCH ASSISTANT (MASTER'S)
Fall 2013 - Spring 2015
During my master's degree, I was a research assistant in two projects:
Autonomous intelligent manipulation
Low-cost robot arm equipped with a multi-DOF counterbalance mechanism.
In the former, I was in charge of implementing collision-free path planning and visual servoing. In the latter, I was responsible for designing and manufacturing robotic arms, hands, as well as a mobile body.
TEACHING ASSISTANT (MASTER'S)
Spring 2014 - Spring 2015
I was a teaching assistant in mechatronics lab course, and automatic control course for undergraduates in Korea University. I was responsible for lab lectures, experiments, office hours and grading.
EDUCATION
Fall 2018 - Present
I am part of the Reneu Lab and PeARL Lab pursuing my Ph.D. in mechanical engineering, co-advised by Dr. Ashish D. Deshpande and Dr. Scott Niekum.
Spring 2010 - Summer 2015
I have received my bachelor's and master's degrees in mechanical engineering advised by Dr. Jae-Bok Song.
If you're interested in collaborated projects or discussions about a common research goal, don't hesitate to contact me at:
