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Mitarbeiter

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Dr. Min Jun Kim

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 28-3137
E-Mail: Diese E-Mail-Adresse ist vor Spambots geschützt! Zur Anzeige muss JavaScript eingeschaltet sein!

Perhaps, the latest CV can be found here

 

Education/Career

2016.06 - present    Research scientist in German Aerospace Center (DLR), Germany
2016.03 - 2016.05    Post doctoral researcher in POSTECH, Korea
2010.03 - 2016.02    Ph.D. in POSTECH, Korea
2006.03 - 2010.02    B.S. in Korea University, Korea

 

Field of Interest

  • Robust nonlinear control
  • Passivity-based control
  • Impedance and admittance control
  • Kinematically redundant robots
  • Flexible joint robots
  • Manipulation on floating base
  • Aerial manipulation
  • Under-actuated systems

If you are interested in an internship, diploma or master thesis in one of these topics, please feel free to contact me.

 

Publications

Papers (hopefully) to appear

  • W. Lee, M. J. Kim, and W. K. Chung, "Asymptotically stable disturbance observer-based compliance control of electro-hydrostatic actuators", IEEE/ASME T-MECH, accepted
  • M. J. Kim, A. Werner, F. Loeffl, and C. Ott, "Passive impedance control of robots with visco-elastic joints via inner-loop torque control", IEEE T-RO, in revision
  • Y. Sarkisov, M. J. Kim, A. Coelho, D. Tsetserukou, C. Ott, and K. Kondak, "Optimal oscillation damping control of cable-suspended aerial manipulator with a single imu", IEEE ICRA 2020, accepted
  • J. Lee, R. Balachandran, Y. Sarkisov, M. De Stefano, A. Coelho, K. Shinde, M. J. Kim, R. Triebel, and K. Kondak, "Visual-inertial telepresence for aerial manipulation", IEEE ICRA 2020, accepted

2019

  • M. J. Kim, F. Beck, C. Ott, and A. Albu-Schaeffer, "Model-free friction observers for flexible joint robots with torque measurements", IEEE T-RO
  • M. J. Kim, W. Lee, J. Choi, G. Chung, K.-L. Han, I. S. Choi, C. Ott, and W. K. Chung, "A passivity-based nonlinear admittance control with application to powered upper-limb control under unknown environmental interactions", IEEE/ASME T-MECH
  • Y. Sarkisov, M. J. Kim, D. Bicego, D. Tsetserukou, C. Ott, A. Franchi, and K. Kondak, "Development of sam: cable-suspended aerial manipulator", IEEE ICRA 2019

2018

  • M. J. Kim, R. Balachandran, M. De Stefano, K. Kondak, C. Ott, "Passive compliance control of aerial manipulators", IROS 2018
  • M. J. Kim, J. Lin, K. Kondak, D. Lee, and C. Ott, "Oscillation damping control of pendulum-like manipulation platform using moving masses", SYROCO 2018
  • M. J. Kim, K. Kondak, and C. Ott, "A stabilizing controller for regulation of uav with manipulator", IEEE RA-L + ICRA 2018

2017

  • W. Lee, M. J. Kim, and W. K. Chung, "Disturbance-observer-based pd control of electro-hydrostatically actuated flexible joint robots", IROS 2017
  • M. J. Kim, A. Werner, F. Loeffl, and C. Ott, "Enhancing joint torque control of series elastic actuators with physical damping", ICRA 2017

2016

  • W. Lee, M. J. Kim, and W. K. Chung, "Joint torque servo control of electro-hydrostatic actuators for high torque-to-weight ratio robot control", IROS 2016
  • M. J. Kim, W. Lee, C. Ott, W. K. Chung, "A passivity-based admittance control design using feedback interconnections", IROS 2016
  • W. Lee, M. J. Kim, and W. K. Chung, "Model-free joint torque control strategy for hydraulic robots", ICRA 2016
  • M. J. Kim, et. al.,  "Powered upper-limb control using passivity-based nonlinear disturbance observer for unknown payload carrying applications", ICRA 2016
  • Y. J .Heo, J. Kang, M. J. Kim, and W. K. Chung, "Tuning-free controller to accurately regulate flow rates in a microfluidic network", Scientific Reports

2015

  • M. J. Kim, and W. K. Chung, "Disturbance-observer-based pd control of flexible joint robots for asymptotic convergence", IEEE T-RO
  • M. J. Kim , Y. Choi, and W. K. Chung, "Bringing Nonlinear H-infinity Optimality to Robot Controllers", IEEE T-RO
  • H. Yu, I. S. Choi, M. J. Kim, Y. J. Park, W. K. Chung, and K. Kim, "Development of a hydraulic shroud nozzle manipulator with robust force control in continuous casting process", ISIJ International
  • M. J. Kim, and W. K. Chung, "Applying disturbance observer to the motor side of flexible joint robots with pd control", URAI 2015
  • M. J. Kim, W. Lee, and W. K. Chung, "Carrying heavy payload with limited sensory information using high order disturbance observer", IROS 2015
  • W. Lee, M. J. Kim, and W. K. Chung, "An approach to development of electro hydrostatic actuator (EHA)-based robot joints", ICIT 2015
  • M. J. Kim, Y. J. Park, and W. K. Chung, "Design of a momentum-based disturbance observer for rigid and flexible joint robots", Intelligent Service Robotics

2014

  • T. Wang, et. al., "Gradient index lens based combined two-photon microscopy and optical coherence tomography", Optics Express
  • M. J. Kim, and W. K. Chung, "Robust control of flexible joint robots based on motor-side dynamics reshaping using disturbance observer (dob)", IROS 2014
  • M. J. Kim, and W. K. Chung, "Development of disturbance observer for uncertainty estimation of euler-lagrange systems", KRoC 2014 (in Korean)

2013

  • M. J. Kim, and W. K. Chung, "Design of nonlinear H-infinity optimal impedance controllers", IROS 2013
  • M. J. Kim, and W. K. Chung, "On the behavior of nonlinear robust internal loop compensator in linear systems", KRoC 2013 (in Korean)

2012

  • M. J. Kim, S. Park, and W. K. Chung, "Nonlinear robust internal loop compensator for robust control of robotic manipulators", IROS 2012

2011

  • J. Lee, S. Kim, Y. S. Kim, W. K. Chung, and M. J. Kim, "Automated surgical planning and evaluation algorithm for spinal fusion surgery with three-dimensional pedicle mode", IROS 2011
  • M. J. Kim, and W. K. Chung, "Nonlinear Disturbance observer design for Euler-Lagrange systems: An initial study", URAI 2011
  • M. J. Kim, K. Lee, and W. K. Chung, "Enhancement of VFH algorithm", KRoC 2011 (in Korean)

 

Patents

  • K. Kondak, C. Ott, M. J. Kim, Y. Sarkisov, and L. Grunert, "Active platform for the transportation and manipulation with stabilizing mechanisms", pending

 

Academic activities

Served/ing as a reviewer for

  • IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • IEEE International Conference on Robotics and Automation (ICRA)
  • IEEE Transactions on Robotics (T-RO)
  • IEEE Robotics and Automation Letters (RA-L)
  • IEEE Transactions on Industrial Electronics (T-IE)
  • IEEE Transactions on Neural Systems & Rehabilitation Engineering (TNSRE)
  • IEEE International Conference on Automation Science and Engineering (CASE)
  • IFAC Symposium on Robot Control (SYROCO)
  • Mathematical Problems in Engineering
  • European Journal of Control
  • Intelligent Service Robotics

Served/ing as an associated editor for

  • 2017.09 - present, IEEE Robotics and Automation Letters (RA-L)
  • 2018, 2019, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 2020, IEEE International Conference on Robotics and Automation (ICRA)

 

Supervised Theses

  • J. Lin, "Modeling and control of a cable-suspended manipulation platform", Technical University of Munich (TUM)
  • F. Beck, "Full admittance control of an unmanned helicopter equipped with a 7-dof robot arm", Technical University Ilmenau
 

 

Zuletzt aktualisiert: Mittwoch, 22. Januar 2020 von Dr. Min Jun Kim