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Mitarbeiter

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Dr. Jinoh Lee

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Analyse und Regelung komplexer Robotersysteme
Oberpfaffenhofen
Münchener Str. 20
82234 Weßling

Telefon: +49 8153 28 1797

Jinoh Lee is currently a Research Scientist with the Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234, Weßling, Germany.

And he is the principal investigator of two international-cooperation projects: MOTIE - CoboTech and MOTIE - IntelliCon (2021-04-01 until 2024-12-31).

He was born in Seoul, South Korea. He received the B.Sc. degree (Summa Cum Laude) in mechanical engineering from Hanyang University, Seoul, South Korea, in 2003 and the M.Sc. and the PhD degrees in Mechanical Engineering from Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea, in 2012. He held the postdoctoral position from 2012-2017 and research scientist position from 2017-2020 at the Department of Advanced Robotics , Istituto Italiano di Tecnologia (IIT), Genoa, Italy.

He was awarded a competitive grant from the National Research Foundation (NRF) of the Korean Government, titled as ``Fostering next-generation researchers program'' from 2013-2014. He received the Best Paper Award at IEEE International Conference on Electrical Machines and Systems (2004) and was also a finalist for the Best Interactive Paper Award at IEEE / RSJ International Conference on Humanoid Robots (2015).

His professional is about robotics and control engineering which includes as follows:
- Compliant system control for safe human-robot interaction,
- Whole-body manipulation of high degrees-of-freedom humanoids,
- Cooperative control, coordination, and motion planning of dual- arm systems,
- Impedance control of single-arm and dual-arm robot,
- Robust control of nonlinear systems and their physical implementation,
- Position / force control of smart materials, e.g., shape memory alloys (SMAs) and Piezo-electric actuators (PEAs).

He is a Senior Member of IEEE (SM'17) and an Editor on the Conference Paper Review Board (CPRB) of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). He also serves as the Associated Editor (AE) of IEEE International Conference on Robotics and Automation (ICRA) since 2017, AE of IEEE Ubiquitous Robots (UR) since 2019; the Technical Committee (TC) of International Federation of Automatic Control (IFAC), TC4.3 Robotics since 2014; the Program Committee of Robotics: Science and Systems (RSS) since 2017, and other robotics conferences.

 

Publication

• International Journal [J]

2022

[J38] Yongchao Wang, Marion Leibold, Jinoh Lee*, Wenyan Ye, Jing Xie, Martin Buss, "Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator," IEEE Transactions on Control Systems Technology (TCST), Feb., 2022, Accepted. (JCR IF: 5.485) *Corresponding author

[J37] Yisoo Lee, Nikos Tsagarakis, Christian Ott, Jinoh Lee*, "A Generalized Index for Fault-tolerant Control in Operational Space under Free-swinging Actuation Failure," IEEE Robotics and Automation Letters (RA-L), Vol. 7, Issue 2, pp 1486-1493, April 2022. (JCR IF: 3.741) will be presented in ICRA2022 *Corresponding author

[J36] P. Guardiani, D. Ludovico, A. Pistone, H. Abidi, I. Zaplana, Jinoh Lee, D. Caldwell, C. Canali, "Design and Analysis of a Fully Actuated Cable-Driven Joint for Hyper-Redundant Robots with Optimal Cable Routing," ASME Journal of Mechanisms Robotics (JMR), Vol. 14, Issue 2, pp. 021006, April 2022, in press. (JCR IF: 2.085)

2021

[J35] Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, Christian Ott, "Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery," IEEE Robotics and Automation Letters (RA-L), Vol. 6, Issue 3, pp 5689 - 5696, July 2021. (JCR IF: 3.741) *presented in Humanoids20/21

[J34] Yisoo Lee, Nikos Tsagarakis, Jinoh Lee*, "Study on Operational Space Control of a Redundant Robot with Un-actuated Joints: Experiments under Actuation Failure Scenarios", Nonlinear Dynamics (NODY), Vol. 105, pp331-344, 2021, (JCR IF: 4.87) *Corresponding author

[J33] Yisoo Lee, Hosang Lee, Jinoh Lee, Jaeheung Park, “Towards Reactive Walking: Control of Biped Robots Exploiting an Event-based FSM,” IEEE Transactions on Robotics (TRO), in press, 2021. (JCR IF: 6.12)

[J32] Yisoo Lee, Sanghyun Kim, Jaeheung Park, Nikos Tsagarakis, Jinoh Lee*, “A Whole-body Control Framework based on the Operational Space Formulation under Inequality Constraints via Task-oriented Optimisation,” IEEE Access, Vol. 9, pp39813-39826, Mar. 2021. (JCR IF: 3.75), *Corresponding author

[J31] Maolin Jin, Jinoh Lee*, J. Seo, G. Seo, “Self-tuning Control for Articulated Robots Using the Plestan’s Method,” International Journal of Precision Engineering and Manufacturing (IJPEM), Vol. 22, pp 557–566, Feb. 2021. (JCR IF: 1.38), *Co-first author, Corresponding author

[J30] Daniele Ludovico, Paolo Guardiani, Francesco Lasagni, Jinoh Lee, Ferdinando Cannella, Darwin G. Caldwell, “Design of Non-Circular Pulleys for Torque Generation: a Convex Optimisation Approach,” IEEE Robotics and Automation Letters (RA-L), Vol. 6, No. 2, pp. 958-965, Feb. 2021. (JCR IF: 3.741)

[J29] Dongwon Kim, and Jinoh Lee, “Robust control of a system with a pneumatic spring,” Journal of the Franklin Institute, Vol. 358, No. 1, pp 555-574, Jan. 2021. (JCR IF:4.04)

[J28] Hyunwook Lee, Jee-Hwan Ryu, Jinoh Lee and Sehoon Oh, “Passivity Controller based on Load-side Damping Assignment for High Stiffness Controlled Series Elastic Actuators,” IEEE Transactions on Industrial Electronics, Vol. 68, No. 1, pp 871-881, Jan. 2021. (JCR IF:7.52)

[J27] Spandan Roy, Jinoh Lee*, Simone Baldi, “A New Adaptive-robust Design for Time Delay Control under State-dependent Stability Condition,” IEEE Transactions on Control Systems Technology, Vol. 29, No. 1, pp 420-427, Jan. 2021. (JCR IF: 5.485) Corresponding author.

~2020

[J26Jinoh Lee, N. Deshpande, D.G. Caldwell, L.S.Mattos, “Micro-scale Precision Control of a Computer Assisted Transoral Laser Microsurgery System,” IEEE/ASME Transactions on Mechatronics, Vol. 25, No. 2, pp 604-615, April 2020. (JCR IF:5.67)

[J25] Jinoh Lee, Gustavo A. Medrano-Cerda, Je Hyung Jung, “Stability Analysis for Time Delay Control of Non-Linear Systems in Discrete-time Domain with a Standard Discretisation Method,” Control Theory and Technology, Vol. 18, No. 1, pp 92–106, February 2020.

[J24] R. Subburaman, D. Kanoulas, L. Muratore, N.G. Tsagarakis, Jinoh Lee, “Human Inspired Fall Prediction Method for Humanoid Robots,” Robotics and Autonomous Systems, Vol. 121, pp103257, Nov. 2019. (JCR IF:2.83)

[J23] Spandan Roy, Jinoh Lee*, and Simone Baldi, “Overcoming the Underestimation and Overestimation Problems in Adaptive Sliding Mode Control,” IEEE/ASME Transactions on Mechatronics, Vol. 24 , No. 5 , pp2031-2039, Oct. 2019. (JCR IF: 5.67) *Corresponding author

[J22] Spandan Roy, Jinoh Lee*, and Simone Baldi, “A New Continuous-time Stability Perspective of Time-Delay Control: Introducing a StateDependent Upper Bound Structure,” IEEE Control Systems Letters, Vol. 3, No. 2, pp.475-480, April 2019. *Corresponding author

[J21] Jinoh Lee, Houman Dallali, Maolin Jin, Darwin G. Caldwell, Nikolaos G. Tsagarakis, “Robust and Adaptive Dynamic Controller for Fullyactuated Robots in Operational Space under Uncertainties,” Autonomous Robots, Vol. 43, Issue 4, pp. 1023-1040, April 2019. (JCR IF: 3.60)

[J20] Spandan Roy, Indra Narayan Kar, Jinoh Lee*, Nikos Tsagarakis, and Darwin G. Caldwell, “Adaptive-Robust Control of a Class of EulerLagrange Systems with Parametric Variations Using Artificially Delayed Input and Position Feedback,” IEEE Transactions on Control Systems Technology (TCST), Vol. 27, Issue 2, pp.603-615, March 2019. (JCR IF: 5.485) *Corresponding author

[J19] Jinoh Lee, Maolin Jin, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis, “Inversion-free force tracking control of piezoelectric actuators using fast finite-time integral terminal sliding-mode,” Elsevier Mechatronics, Vol. 57, pp39-50, Feb. 2019. (JCR IF:3.00)

[J18] Jinoh Lee, Chan Lee, Nikos Tsagarakis, Sehoon Oh, “Residual-Based External Torque Estimation in Series Elastic Actuators over a Wide Stiffness Range: Frequency Domain Approach,” IEEE Robotics and Automation Letters (RA-L), Vol. 3, Issue 3, pp1442 - 1449, July 2018. (JCR IF: 3.741) *presented in ICRA 2018

[J17] N. Deshpande, G. Peretti, F. Mora, L. Guastini, Jinoh Lee, G. Barresi, D.G. Caldwell, L.S. Mattos, “Design and Study of a Next Generation Computer Assisted System for Transoral Laser Microsurgery,” OTO Open: Official journal of the American Academy of Otolaryngology, Sage, Vol. 2, Issue 2, pp1-10, 2018.

[J16] Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis, “Center-of-Mass Based Grasp Pose Adaptation using 3D Range and Force/Torque Sensing,” International Journal of Humanoid Robotics (IJHR), Vol. 15, No. 04, pp 1850013, 2018. (JCR IF: 1.40)

[J15] Wan-soo Kim, Jinoh Lee, Luka Peternel, Nikos Tsagarakis, Arash Ajoudani, “Anticipatory Robot Assistance for the Prevention of Human Static Joint Overloading in Human-Robot Collaboration”, IEEE Robotics and Automation Letters (RA-L), Vol.3, No. 1, pp.68-75, Oct. 2018. (JCR IF: 3.741) *presented in IROS 2017

[J14] S. Roy, I.N. Kar, Jinoh Lee*, “Toward Position-Only Time-Delayed Control for Uncertain Euler-Lagrange Systems: Experiments on Wheeled Mobile Robots,” IEEE Robotics and Automation Letters (RA-L), Vol.2, No. 4, pp.1925-1932, Oct. 2017. (JCR IF: 3.741) Corresponding authorpresented in IROS 2017

[J13] S. Roy, I.N.Kar, Jinoh Lee*, M.Jin, “Adaptive Robust Time-Delay Control for a Class of Uncertain Euler-Lagrange Systems,” IEEE Transactions on Industrial Electronics, Vol.64, No.9, Issue 09, pp.7109-7119, Sept. 2017. (JCR IF: 7.52) Corresponding author

[J12] M. Jin, S.H. Kang, P.H. Chang, Jinoh Lee, “Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control,” ASME/IEEE Transactions on Mechatronics, pp. 2141 - 2152, Vol.22, Issue 5, Oct. 2017. (JCR IF:3.94)

[J11] Dimitrios Kanoulas, Jinoh Lee, Darwin G.Caldwell, and Nikos G. Tsagarakis, “Visual Grasp Affordance Localization Pointcloud Using Curved Contact Patches,” International Journal of Humanoid Robotics, Vol.14, Issue 01, p.1650028 , March, 2017. (JCR IF: 1.40)

[J10] M. Jin, Jinoh Lee*, Nikos G. Tsagarakis, “Model-free Robust Adaptive Control of Humanoid Robots with Flexible Joints,” IEEE Transactions on Industrial Electronics, Vol.64, No. 2, pp.1706-1715, Feb.2017. (JCR IF: 7.52) Corresponding author

[J09] N.G.Tsagarakis , D.G.Caldwell , A. Bicchi, F. Negrello, M. Garabini, W. Choi, L. Baccelliere, V.G. Loc, J. Noorden, M. Catalano, M. Ferrati, L. Muratore, A. Margan, L. Natale, E. Mingo, H. Dallali, A. Settimi, A. Rocchi, V. Varricchio, L. Pallottino, C. Pavan, A. Ajoudani, Jinoh Lee*, P. Kryczka, D. Kanoulas, “WALK-MAN : A High Performance Humanoid Platform for Realistic Environments,” Journal of Field Robotics, Volume 34, Issue 7, pp.1225-1259, October 2017, (JCR IF: 3.58)

[J08] Jinoh Lee, Gustavo Medrano-Cerda, Jehyung Jung, “Corrections for “Discretisation method and stability criteria for non-linear systems under discrete-time time delay control,” IET Control Theory & Applications, Vol.10, Issue 14, pp.1751-1754, Sept. 2016. (JCR IF: 3.34)

[J07] Navvab Kashiri, Jinoh Lee, Nikos G. Tsagarakis, Michael Van Damme, Bram Vanderborght, Darwin G. Caldwell, “Proxy-based Position Control of Manipulators with Passive Compliant Actuators: Stability Analysis and Experiments,” Robotics and Autonomous Systems, Vol.75, pp.398-408, Jan. 2016. (JCR IF: 2.83)

[J06] Maolin Jin, Jinoh Lee, Kyung Kwan Ahn, “Continuous Nonsingular Terminal Sliding-Mode Control of Shape Memory Alloy Actuators Using Time Delay Estimation,” ASME/IEEE Transactions on Mechatronics, Vol.20, Issue 2, pp.899-909, April, 2015. (JCR IF: 3.94) Corresponding author

[J05] M. Laffranchi, L. Chen, N. Kashiri, Jinoh Lee, N. G. Tsagarakis, D. G. Caldwell,“Development and control of a series elastic actuator equipped with a semi active friction damper for human friendly robots,” Robotics and Autonomous Systems, Vol.62, Issue 12, pp.1827-1836, Dec. 2014. (JCR IF: 2.83)

[J04] Jinoh Lee, Pyung Hun Chang, Rodrigo S. Jamisola Jr., “Relative Impedance Control for Dual-Arm Robots Performing Asymmetric Bimanual Tasks,” IEEE Transactions on Industrial Electronics, Vol.61, No.7, pp.3786-3796, July 2014. (JCR IF: 7.52)

[J03] Jinoh Lee, Maolin Jin, Kyung Kwan Ahn, “Precise Tracking Control of Shape Memory Alloy Actuator Systems Using Hyperbolic Tangential Sliding Mode Control With Time Delay Estimation,” Mechatronics, Volume 23, Issue 3, pp.310-317, April 2013. (JCR IF: 3.00)

[J02] Jinoh Lee , Changsun Yoo, Yea-Seok Park, Bumjin Park, Soo-Jin Lee, Dae-Gab Gweon, Pyung-Hun Chang, “ An experimental study on time delay control of actuation system of tilt rotor unmanned aerial vehicle , " Mechatronics , Vol.22, Issue 2, pp.184-194, Mar. 2012. (JCR IF: 3.00)

[J01] M. Jin, Jinoh Lee , PH Chang, and C. Choi, “ Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy  Tracking Control ,” IEEE Transactions on Industrial Electronics , vol. 56, no.9, pp.3593-3601, Sept. 2009. (JCR IF: 7.52)

 

• International Conference [C]

[C40] Wonbum Yoon, Jinoh Lee, Sehoon Oh, "Analysis of task decoupling characteristics of null space projector with uncertainty from modelling error," 2022 IEEE/SICE International Symposium on System Integrations (SII 2022), pp. 963-964, January 8-12, 2022. Narvik, Norway.

[C39] Amisha Bhaskar, Swati Dantu, Spandan Roy, Jinoh Lee, Simone Baldi, “Adaptive Artificial Time Delay Control for Bipedal Walking with Robustification to State-dependent Constraint Forces," 20th International Conference on Advaned Robotics (ICAR 2021), pp. 410-415, December 7-10, 2021, Ljubljana, Slovenia.

[C38] Sergio Leggieri, Carlo Canali, Ferdinando Cannella, Jinoh Lee, Darwin G. Caldwell, “Design of the Crawler Unit of a Novel Self-Reconfigurable Hybrid Platform for Inspection," 20th International Conference on Advaned Robotics (ICAR 2021), pp. 77-82, December 7-10, 2021, Ljubljana, Slovenia.

[C37] Rajesh Subburaman, Mariapaola D'Imperio, Jinoh Lee, Ferdinando Cannella, “An Analysis on the Modeling Accuracy of Industrial Manipulators with Inherent Joint Elasticity," 2021 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2021), pp. 8223-8230, Sept. 27-Oct. 1, 2021, Prague, Czech Republic, Online.

[C36] Yisoo Lee, Junewhee Ahn, Jinoh Lee*, Jaeheung Park, “Computationally Efficient HQP-Based Whole-Body Control Exploiting the Operational-Space Formulation,”  2021 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2021), pp. 5174-5179, Sept. 27-Oct. 1, 2021, Prague, Czech Republic, Online. *Corresponding Author

[C35] Daniele Ludovico, Paolo Guardiani, Alessandro Pistone, Jinoh Lee , Ferdinando Cannella, Darwin G. Caldwell, Carlo Canali, "Modeling Cable-Driven Joint Dynamics and Friction: a Bond-Graph Approach," 2020 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2020), pp7285-7291, Oct. 25-29, 2020, Las Vegas, NV, USA, Online.

[C34] A. Acemoglu, N. Deshpande, Jinoh Lee , DG Caldwell, L. Mattos, “ The CALM System: New Generation Computer-Assisted Laser Microsurgery ”, 2019 19th International Conference on Advanced Robotics ( ICAR 2019 ), pp647-652 , Dec. 2-6, 2019, Belo Horizonte, Brazil ( Surgical Technologies Competition Finalist )

[C33] Y. Lee, N. Tsagarakis, Jinoh Lee “ Agile Standing-up Control of Humanoids: Energy-based Reactive Contact Wrench Optimization with Strict Dynamic Consistency ”, 2019 IEEE / RSJ International Conference on Intelligent Robots and Systems ( IROS 2019 ) , pp4652-4659, Nov. 4-8, 2019, Macau, China

[C32] H. Lee, Jinoh Lee , JH. Ryu, S. Oh, “ Relaxing the Conservatism of Passivity Condition for Impedance Controlled Series Elastic Actuators ”, 2019 IEEE / RSJ International Conference on Intelligent Robots and Systems ( IROS 2019 ), pp7604-7609, Nov. 4-8, 2019, Macau , China

[C31] S. Park, Jinoh Lee , KHSeo, M. Jin, “ Robust Link Position Tracking Control for Robot Manipulators with Series Elastic Actuators Using Time delay Estimation ”, 2019 IEEE International Conference on Robotics and Automation ( ICRA2019 ), pp3052-3058 , May20-24, 2019, Montreal, Canada

[C30] Rajesh Subburaman, Nikos Tsagarakis, Jinoh Lee , “ Online Rolling Motion Generation for Humanoid Falls Based on Active Energy Control Concepts ”, 2018 IEEE-RAS International Conference on Humanoid Robots ( Humanoids 2018 ), pp 925-931, Nov. 6 -9, Beijing, China

[C29] C.Fang, GFRigano, N.Kashiri, A.Ajoudani,  Jinoh Lee , NGTsagarakis, “ Online Joint Stiffness Transfer from Human Arm to Anthropomorphic Arm ”, The 2018 IEEE International Conference on Systems, Man, and Cybernetics ( SMC 2018 ), pp 1453-1460, Oct. 7-10, 2018, Miyazaki, Japan

[C28] Rajesh Subburaman, Jinoh Lee * , Darwin G. Caldwell, Nikos Tsagarakis, “ Online Falling-Over Control of Humanoids Exploiting Energy Shaping and Distribution Methods ”, 2018 IEEE International Conference on Robotics and Automation ( ICRA2018 ), pp448-454, Brisbane , Australia, May 21-25, 2018 

[C27] Chan Lee, Jinoh Lee*, Jörn Malzahn, Nikos Tsagarakis, Sehoon Oh, “A Two-Staged Residual for Resilient External Torque Estimation with Series Elastic Actuators,” 2017 IEEE-RAS International Conference on Humanoid Robots (Humanoids2017), pp817-823, Birmingham, UK, Nov.15-17, 2017, *Co-first Author

[C26] Mohammad S. Aghbelagh, Jinoh Lee, Darwin G. Caldwell, Nikos Tsagarakis, “Inverse Dynamics Control of Bimanual Object Manipulation Using Orthogonal Decomposition: An Analytic Approach”, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), pp.4791-4796, Vancouver, BC, Canada, September 24-28, 2017

[C25] W. Kim, Jinoh Lee, N. Tsagarakis, A. Ajoudani, “A Real-time and Reduced-Complexity Approach to the Detection and Monitoring of Static Joint Overloading in Humans,” 2017 IEEE-RAS-EMBS International Conference on Rehabilitation Robotics (ICORR 2017), pp.828-834, London, UK, July 17-20, 2017

[C24] Cheng Fang, Jinoh Lee, Arash Ajoudani, Chengxu Zhou, Nikos Tsagarakis, Darwin G. Caldwell, “RRT-based Motion Planning with Sampling in Redundancy Space for Robots with Anthropomorphic Arms,” 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2017), pp.1612-1618, Munich, Germany, July 3-7, 2017

[C23] Jinoh Lee, Wooseok Choi, Dimitrios Kanoulas, Rajesh Subburaman, Darwin G. Caldwell, Nikos Tsagarakis, “An Active Compliant Impact Protection System for Humanoids: Application to WALK-MAN Hands,” 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp.778-785, Cancun, Mexico, Nov. 15-17, 2016

[C22] Rajesh Subburaman, Jinoh Lee, Darwin G. Caldwell, Nikos Tsagarakis, “Multi-Sensor Based Fall Prediction Method for Humanoid Robots,” 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), pp.102-108, Baden-Baden, Germany, Sept. 19-21, 2016 

[C21] Jinoh Lee, Houman Dallali, Maolin Jin, Darwin G. Caldwell, Nikos Tsagarakis, “Robust and Adaptive Whole-body Controller for Humanoids with Multiple Tasks under Uncertain Disturbances,” 2016 IEEE International Conference on Robotics and Automation (ICRA 2016), pp.5683-5689, Stockholm, Sweden, May 16-21, 2016

[C20] Bilal Ur Rehman, Michele Focchi, Jinoh Lee, Houman Dallali, Darwin G. Caldwell, Claudio Semini, “Towards a Multi-legged Mobile Manipulator,” 2016 IEEE International Conference on Robotics and Automation (ICRA 2016), pp.3618-3624, Stockholm, Sweden, May 16-21, 2016

[C19] Emmanouil Spyrakos-Papastavridis, Navvab Kashiri, Jinoh Lee, Nikos Tsagarakis, Darwin G. Caldwell “Online Impedance Parameter Tuning for Compliant Biped Balancing,” 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids2015), pp.210-216, Seoul, Korea, Nov. 3-5, 2015 (Best Interactive Paper Award Finalist)

[C18] Houman Dallali, Jinoh Lee, Nikolaos Tsagarakis, Darwin G. Caldwell, “Experimental Study on Linear State Feedback Control of Humanoid Robots with Elastic Joints,” 11th JCR IFAC Symposium on Robot Control (SYROCO 2015), pp.138-143, Salvador, Brazil August 26-28, 2015 (Corresponding Author)

[C17] Jinoh Lee, Pyung-Hun Chang, “Redundancy Resolution for Dual-Arm Robots Inspired by Human Asymmetric Bimanual Action: Formulation and Experiments,” 2015 IEEE International Conference on Robotics and Automation (ICRA 2015), pp.6058-65, Seattle, USA, May 26-30, 2015

[C16] Mostafa Bagheri, Arash Ajoudani, Jinoh Lee, Darwin G. Caldwell, Nikolaos Tsagarakis, “Kinematic Analysis and Design Considerations for Optimal Base Frame Arrangement of Humanoid Shoulders,” 2015 IEEE International Conference on Robotics and Automation (ICRA 2015), pp.27102715, Seattle, USA, May 26-30, 2015

[C15] Jinoh Lee, A. Ajoudani, E. Mingo, A. Rocchi, A. Settimi, M. Ferrati, A. Bicchi, N. Tsagarakis, D. G. Caldwell, “Upper-body Impedance Control with Variable Stiffness for a Door Opening Task,,” 2014 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014), pp.713-719, Madrid, Spain, November 18-20, 2014

[C14] A. Ajoudani, Jinoh Lee, A. Rocchi, M. Ferrati, E. Mingo, A. Settimi, D. G. Caldwell, A. Bicchi, N. Tsagarakis, “A Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task,” 2014 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014), pp.664-670, Madrid, Spain, November 18-20, 2014

[C13] Jinoh Lee, Maolin Jin, Nikolaos Tsagarakis, and Darwin G. Caldwell, “Terminal Sliding-Mode Based Force Tracking Control of Piezoelectric Actuators for Variable Physical Damping System,” 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, USA, pp.2407-2413, Sept. 14-18, 2014

[C12] Jinoh Lee, Matteo Laffranchi, Navvab Kashiri, Nikolaos Tsagarakis, Darwin G. Caldwell, “Model-Free Force Tracking Control of Piezoelectric Actuators: Application to Variable Damping Actuator,” 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, pp.2283-2289, May 31-June 7, 2014

[C11] Arash Ajoudani, Nikolas Tsagarakis, Jinoh Lee, MarcoGabiccini, AntonioBicchi, “Natural Redundancy Resolution in Dual-Arm Manipulation using Configuration Dependent Stiffness (CDS) Control,” 2014 IEEE International Conference on Robotics and Automation (ICRA2014), HongKong, China, pp.1480-1486, May 31-June 7, 2014 (Oral Presenter)

[C10] Navvab Kashiri, Matteo Laffranchi, Jinoh Lee, Nikolaos Tsagarakis, Lisha Chen, Darwin G. Caldwell, “Real-Time Damping Estimation for Variable Impedance Actuators,” 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, pp.1072-1077, May 31-June 7, 2014

[C09] Jinoh Lee, Houman Dallali, Nikolas Tsagarakis, Darwin G. Caldwell, “Robust and Model-free Link Position Tracking Control for Humanoid COMAN with Multiple Compliant Joints,” 2013 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2013), Atlanta, USA, pp.1-7, Oct. 15-17, 2013

[C08] L. Chen, M. Laffranchi, Jinoh Lee, N. Kashiri, N. Tsagarakis, D. Caldwell, “Link Position Control of a Compliant Actuator with Unknown Transmission Friction Torque,” 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, pp.4058-4063, Nov. 3-8, 2013

[C07] Jinoh Lee, Pyung Hun Chang, Rodrigo S. Jamisola Jr., “Relative Task Prioritization for Dual-Arm with Multiple, Conflicting Tasks: Derivation and Experiments,” 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, pp.1920-1925, May 6-10, 2013

[C06] Rodrigo S. Jamisola Jr., Pyung Hun Chang, Jinoh Lee, “Guaranteeing Task Prioritization for Redundant Robots Given Maximum Number of Tasks and Singularities,” 2012 international technical conference of IEEE Region 10 (TENCON 2012), Cebu, Philippines, pp.1-6, Nov. 19-22, 2012

[C05] Gwang Min Gu, Jinoh Lee, and Jung Kim, “Double Loop Control Strategy with Different Time Steps based on Human Characteristics,” The 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2012), San Diego, USA, pp.1925-1928, Aug.28-Sept.1, 2012

[C04] Jinoh Lee, Pyung Hun Chang and Dae-gab Gweon, “A Cost Function Inspired by Human Arms Movement for a Bimanual Robotic Machining,” 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), St. Paul, Minnesota, USA, pp.5431-5436, May 14-18, 2012

[C03] Jae Won Jeong, Pyung Hun Chang, and Jinoh Lee, “Enhanced Operational Space Formulation for Multiple Tasks using Time Delay Estimation,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, pp.4390 - 4395, Oct., 2010 ( Oral Presenter)

[C02] PH. Chang, Y-H. Kang, GR. Cho, JH. Kim, M. Jin, Jinoh Lee , JW. Jeong, DK. Han, JH. Jung, W-J. Lee and Y-B. Kim, " Control architecture design for a fire searching robot using task oriented design methodology , ”in Proc. SICE-ICASE International Joint Conference ( ICCAS 2006 ), Busan, Korea, pp.3126-3131, Oct. 2006.

[C01] PH Chang, JH Jung and Jinoh Lee , “ A simple tuning method for robust MIMO PID control ,” in CDROM Proc. Int. Conf. Electrical Machines and Syst. ( ICEMS 2004 ), PD-11 (630-S01-015), 2004. ( Best Paper Award )

 

• Book Chapter [B]

[B02] D.G Caldwell, A. Ajoudani, Jinoh Lee , N.G Tsagarakis, “ Intelligent, Adaptive Humanoids for Human Assistance ,” pp221-234, Mechatronics and Robotics, CRC Press, 2020

[B01] N.G Tsagarakis, D.G Caldwell, A. Bicchi, F. Negrello, M. Garabini, W. Choi, L. Baccelliere, VG Loc, J. Noorden, M. Catalano, M. Ferrati, L. Muratore, A. Margan, L. Natale, E. Mingo, H. Dallali, A. Settimi, A. Rocchi, V. Varricchio, L. Pallottino, C. Pavan, A. Ajoudani, Jinoh Lee * , P. Kryczka, D. Kanoulas, “ WALK -MAN Humanoid Platform , ”The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue, pp495-548, Springer Tracts in Advanced Robotics (STAR, volume 121), Springer, Cham, 2018

 

• Conference abstracts (workshops) [CA]

[CA4] N. Deshpande, A. Acemoglu, G. Peretti, F. Mora, L. Guastini, Jinoh Lee , G. Barresi, DG Caldwell, LS Mattos, “ CALM - Computer Aided Laser Microsurgery , " Workshop on Computer / Robot Assisted Surgery (CRAS) , March 21-22, 2019 ( Winner of Surgical Technologies Competition )

[CA3] Jinoh Lee*, D. Kanoulas, D. Caldwell, N. Tsagarakis, “ Development of Modular and Active Impact Protection System for Humanoids Falling ,” ICRA2016 Workshop on 'Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions', Stockholm, Sweden, May 16-21, 2016 (*Oral Presenter )

[CA2] Houman Dallali, Jinoh Lee, Nikolaos Tsagarakis, Darwin G. Caldwell, “ A Comparison Study on Link Control of Elastic Joint Robots ,” ICRA2015 Workshop on 'Soft Robotics: Actuation, Integration, and Applications - Blending' Seattle, USA, May 26-30, 2015

[CA1] Arash Ajoudani, Jinoh Lee*, Alessio Rocchi, Mirko Ferrati, Enrico Mingo Hoffman, Alessandro Settimi, Nikos G. Tsagarakis, Darwin. G. Caldwell, and Antonio Bicchi, “ Dual Arm Impedance Control with a Compliant Humanoid: Application to a Valve Turning Task ,” IROS 2014 Workshop on 'Compliant Manipulation: Challenges in Learning and Control', Chicago, USA, Sept. 14-18 , 2014 ( *Oral Presenter )

 

• Ph.D. Dissertation

KAIST, 2012:  “Dynamic Control Strategy of Dual-Arm Robot for Asymmetric Bimanual Tasks - A Human Inspired Approach”

 

 

 

Zuletzt aktualisiert: Freitag, 18. Februar 2022 von Dr. Jinoh Lee