Mitarbeiter

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