Sangbae Kim

发表

Directional Adhesive Structures for Controlled Climbing on Smooth Vertical Surfaces

Mark R. Cutkosky, Aaron Parness, Daniel Santos, 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

Pouch Motors: Printable/inflatable soft actuators for robotics

Daniela Rus, Ryuma Niiyama, Sangbae Kim, 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains

Sangbae Kim, Patrick M. Wensing, Gerardo Bledt, 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).

Variable-speed quadrupedal bounding using impulse planning: Untethered high-speed 3D Running of MIT Cheetah 2

Sangbae Kim, Hae-Won Park, SangIn Park, 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

Quadruped bounding control with variable duty cycle via vertical impulse scaling

Sangbae Kim, Hae-Won Park, Meng Yee Chuah, 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

A Comparative Study on Dynamic and Static Sparsity Patterns in Parallel Sparse Approximate

Jun Zhang, Kai Wang, Sangbae Kim, 2004 .

Proprioceptive Actuation Design for Dynamic Legged locomotion

Sangbae Kim, Patrick M. Wensing, 2016 .

Design and fabrication of multi-material structures for bioinspired robots

Sangbae Kim, Mark R Cutkosky, M. Cutkosky, 2009, Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences.

The HERMES humanoid system: A platform for full-body teleoperation with balance feedback

Wyatt Ubellacker, Albert Wang, Sangbae Kim, 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

Dynamic Bilateral Teleoperation of the Cart-Pole: A Study Toward the Synchronization of Human Operator and Legged Robot

Joao Ramos, Sangbae Kim, Sangbae Kim, 2018, IEEE Robotics and Automation Letters.

Self-folding and self-actuating robots: A pneumatic approach

Robert J. Wood, Xu Sun, Ryuma Niiyama, 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds

Sangbae Kim, Hae-Won Park, Patrick M. Wensing, 2015, Robotics: Science and Systems.

Directional efficiency in geared transmissions: Characterization of backdrivability towards improved proprioceptive control

Albert Wang, Sangbae Kim, Albert Wang, 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots

Albert Wang, Sangbae Kim, Patrick M. Wensing, 2017, IEEE Transactions on Robotics.

Robots for Physical Interaction

Sangbae Kim, 2019 .

A Comparative Study on Dynamic and Static Sparsity Patterns in Parallel Sparse Approximate Inverse Preconditioning

Kai Wang, Jun Zhang, Sangbae Kim, 2003, J. Math. Model. Algorithms.

Scaling Hard Vertical Surfaces with Compliant Microspine Arrays

Mark R. Cutkosky, Michele Lanzetta, Sangbae Kim, 2006, Int. J. Robotics Res..

iSprawl: Design and Tuning for High-speed Autonomous Open-loop Running

Jonathan E. Clark, Mark R. Cutkosky, Sangbae Kim, 2006, Int. J. Robotics Res..

A Balance Feedback Human Machine Interface for humanoid teleoperation in dynamic tasks

Albert Wang, Sangbae Kim, João Ramos, 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Actuator design for high force proprioceptive control in fast legged locomotion

Albert Wang, Sangbae Kim, Sangok Seok, 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

The effects of swing-leg retraction on running performance: analysis, simulation, and experiment

Martijn Wisse, Sangbae Kim, Matt Haberland, 2014, Robotica.

The brain in the machine: MIT is building robots that use full-body teleoperation to move with greater agility

Albert Wang, Sangbae Kim, João Ramos, 2019, IEEE Spectrum.

Self-folded soft robotic structures with controllable joints

Daniela Rus, Sangbae Kim, Shuhei Miyashita, 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

Design of Dynamic Legged Robots

Sangbae Kim, Patrick M. Wensing, P. Wensing, 2017, Found. Trends Robotics.

A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery

Karl Iagnemma, Sangbae Kim, Yong-Jae Kim, 2014, IEEE Transactions on Robotics.

Facilitating Model-Based Control Through Software-Hardware Co-Design

Sangbae Kim, João Ramos, Benjamin Katz, 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).

Global and localized parallel preconditioning techniques for large scale solid Earth simulations

Kai Wang, Hiroshi Okuda, Jun Zhang, 2003, Proceedings International Parallel and Distributed Processing Symposium.

Gecko-inspired climbing behaviors on vertical and overhanging surfaces

Mark R. Cutkosky, Barrett Heyneman, Daniel Santos, 2008, 2008 IEEE International Conference on Robotics and Automation.

MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot

Sangbae Kim, Patrick M. Wensing, Matthew J. Powell, 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Sticky Actuator: Free-Form Planar Actuators for Animated Objects

Xu Sun, Hiroshi Ishii, Lining Yao, 2015, TEI.

High-speed bounding with the MIT Cheetah 2: Control design and experiments

Sangbae Kim, Hae-Won Park, Patrick M. Wensing, 2017, Int. J. Robotics Res..

Explaining the Resurgence of U.S. Competitiveness: The Rise of Wintelism

Sangbae Kim, Jeffrey Hart, J. Hart, 2002, Inf. Soc..

The effect of leg impedance on stability and efficiency in quadrupedal trotting

Sangbae Kim, Neville Hogan, William Bosworth, 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

On the dynamics of a quadruped robot model with impedance control: Self-stabilizing high speed trot-running and period-doubling bifurcations

Dong Jin Hyun, Jongwoo Lee, Sangbae Kim, 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot

Mark R. Cutkosky, Barrett Heyneman, Sangbae Kim, 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

Enabling Force Sensing During Ground Locomotion: A Bio-Inspired, Multi-Axis, Composite Force Sensor Using Discrete Pressure Mapping

Sangbae Kim, Meng Yee Chuah, Meng Yee Michael Chuah, 2014, IEEE Sensors Journal.

The MIT super mini cheetah: A small, low-cost quadrupedal robot for dynamic locomotion

Sangbae Kim, Neville Hogan, William Bosworth, 2015, 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR).

Optimally Scaled Hip-Force Planning: A control approach for quadrupedal running

Sangbae Kim, Andres K. Valenzuela, 2012, 2012 IEEE International Conference on Robotics and Automation.

Robot locomotion on hard and soft ground: Measuring stability and ground properties in-situ

Sangbae Kim, Neville Hogan, Will Bosworth, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

Origami-inspired printable tele-micromanipulation system

Sangbae Kim, Sehyuk Yim, 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

Pouch Motors: Printable Soft Actuators Integrated with Computational Design

Xu Sun, Cynthia Sung, Byoungkwon An, 2015 .

Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control

Sangbae Kim, Patrick M. Wensing, Gerardo Bledt, 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Improved normal and shear tactile force sensor performance via Least Squares Artificial Neural Network (LSANN)

Sangbae Kim, Meng Yee Chuah, Meng Yee Michael Chuah, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah

Sangbae Kim, Patrick M. Wensing, Gerardo Bledt, 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot

Albert Wang, Jeffrey H. Lang, Sangbae Kim, 2013, 2013 IEEE International Conference on Robotics and Automation.

The optimal swing-leg retraction rate for running

Martijn Wisse, Sangbae Kim, Matt Haberland, 2011, 2011 IEEE International Conference on Robotics and Automation.

The MIT Cheetah, an Electrically-Powered Quadrupedal Robot for High-speed Running

Sangbae Kim, Hae-Won Park, 2014 .

Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set

Sangbae Kim, Patrick M. Wensing, Matthew J. Powell, 2019, IEEE Robotics and Automation Letters.

Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution

Jean-Jacques E. Slotine, Sangbae Kim, Patrick M. Wensing, 2017, IEEE Robotics and Automation Letters.

Implementation of trot-to-gallop transition and subsequent gallop on the MIT Cheetah I

Dong Jin Hyun, Jongwoo Lee, Sangbae Kim, 2016, Int. J. Robotics Res..

A highly parallelized control system platform architecture using multicore CPU and FPGA for multi-DoF robots

Dong Jin Hyun, Sangbae Kim, SangIn Park, 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

Design of a tubular snake-like manipulator with stiffening capability by layer jamming

Karl Iagnemma, Sangbae Kim, Yong-Jae Kim, 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

iSprawl: Autonomy, and the Effects of Power Transmission

Jonathan E. Clark, Mark R. Cutkosky, Sangbae Kim, 2005 .

Printing angle sensors for foldable robots

Robert J. Wood, Xu Sun, Sangbae Kim, 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

SpinybotII: climbing hard walls with compliant microspines

Sangbae Kim, M.R. Cutkosky, A.T. Asbeck, 2005, ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005..

A compact two DOF magneto-elastomeric force sensor for a running quadruped

Sangbae Kim, Shaohui Foong, Arvind Ananthanarayanan, 2012, 2012 IEEE International Conference on Robotics and Automation.

Humanoid Dynamic Synchronization Through Whole-Body Bilateral Feedback Teleoperation

Joao Ramos, Sangbae Kim, Sangbae Kim, 2018, IEEE Transactions on Robotics.

Composite force sensing foot utilizing volumetric displacement of a hyperelastic polymer

Sangbae Kim, Meng Yee Chuah, Matthew Estrada, 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Tails in biomimetic design: Analysis, simulation, and experiment

Jongwoo Lee, Sangbae Kim, Randall Briggs, 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Design Principles for Energy-Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot

Jeffrey H. Lang, Dong Jin Hyun, David M. Otten, 2015, IEEE/ASME Transactions on Mechatronics.

Global and localized parallel preconditioning techniques for large scale solid Earth simulations

Kai Wang, Hiroshi Okuda, Jun Zhang, 2003, Future Gener. Comput. Syst..

A balance feedback interface for whole-body teleoperation of a humanoid robot and implementation in the HERMES system

Wyatt Ubellacker, Albert Wang, Sangbae Kim, 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

The effect of swing leg retraction on running energy efficiency

Martijn Wisse, Sangbae Kim, Matt Haberland, 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Teleoperated Micromanipulation System Manufactured by Cut-and-Fold Techniques

Daniela Rus, Sangbae Kim, Shuhei Miyashita, 2017, IEEE Transactions on Robotics.

Dynamic locomotion synchronization of bipedal robot and human operator via bilateral feedback teleoperation

Sangbae Kim, Joao Ramos, Sangbae Kim, 2019, Science Robotics.

Cogging torque reduction in permanent-magnet synchronous machines with skew

James L. Kirtley, Jeffrey H. Lang, Sangbae Kim, 2016, 2016 XXII International Conference on Electrical Machines (ICEM).

Improving humanoid posture Teleoperation by Dynamic Synchronization through operator motion anticipation

Sangbae Kim, João Ramos, 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

A Distributed Robot Garden System

Deborah Ajilo, Daniela Rus, Joseph DelPreto, 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah

Dong Jin Hyun, Jongwoo Lee, Sangbae Kim, 2014, Int. J. Robotics Res..

Smooth Vertical Surface Climbing With Directional Adhesion

Mark R. Cutkosky, Barrett Heyneman, Daniel Santos, 2008, IEEE Transactions on Robotics.

Parallel stiffness in a bounding quadruped with flexible spine

Stefano Stramigioli, Sangbae Kim, Gerrit A. Folkertsma, 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Animatronic soft robots by additive folding

Daniela Rus, Sangbae Kim, Shuhei Miyashita, 2018, Int. J. Robotics Res..

Micro artificial muscle fiber using NiTi spring for soft robotics

Robert J. Wood, Kyu-Jin Cho, Elliot Wright Hawkes, 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Robot-human balance state transfer during full-body humanoid teleoperation using Divergent Component of Motion dynamics

Albert Wang, Sangbae Kim, João Ramos, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

A Novel Layer Jamming Mechanism With Tunable Stiffness Capability for Minimally Invasive Surgery

Karl Iagnemma, Sangbae Kim, Yong-Jae Kim, 2013, IEEE Transactions on Robotics.

Peristaltic locomotion with antagonistic actuators in soft robotics

Robert J. Wood, Cagdas D. Onal, Daniela Rus, 2010, 2010 IEEE International Conference on Robotics and Automation.

Soft robotics: a bioinspired evolution in robotics.

Cecilia Laschi, Sangbae Kim, Barry Trimmer, 2013, Trends in biotechnology.

Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot

Sangbae Kim, Matthew Chignoli, Sangbae Kim, 2021, 2021 IEEE International Conference on Robotics and Automation (ICRA).

Rapid and Reliable Trajectory Planning Involving Omnidirectional Jumping of Quadruped Robots

Sangbae Kim, Matthew Chignoli, Savva Morozov, 2021 .

Learning to Jump from Pixels

Sangbae Kim, Pulkit Agrawal, Kartik Paigwar, 2021, CoRL.

Real-time Optimal Landing Control of the MIT Mini Cheetah pdf

Sangbae Kim, Donghyun Kim, Se Hwan Jeon, 2021, ArXiv.

The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors

Sangbae Kim, Matthew Chignoli, Donghyun Kim, 2021, 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids).

Directional adhesion for climbing: theoretical and practical considerations

Mark R. Cutkosky, Aaron Parness, Sangbae Kim, 2007 .

Modeling of Surface Permanent Magnet Motors With Cogging and Saturation Effects Included

James L. Kirtley, Jeffrey H. Lang, Sangbae Kim, 2018, IEEE Transactions on Energy Conversion.

A Stiffness-Adjustable Hyper-Redundant Manipulator using a Variable Neutral-line Mechanism for Minimally Invasive Surgery

Karl Iagnemma, Sangbae Kim, Shanbao Cheng, .