All Publications

01 International Publications

2026

  • J. W. Han, and M. J. Kim, “Contact-responsive high-gain robot motion controllers using a constrained disturbance observer”, Intelligent Service Robotics, vol. 19, no. 5, article 89, 2026
  • S. W. Han, and M. J. Kim, “Mixture of Flow Matching and Particle Filter for Proprioception-based Online Contact Estimation”, IEEE T-RO, accepted
  • S. Kim*, K. Kim*, D. Ko, Y. J. Heo, and M. J. Kim, “Spatially Conditioned Diffusion Policy: Learning Precise and Robust Manipulation with a Single RGB Camera”, CoRL 2026, accepted (* Co-first authors)
  • S. Lee*, S. M. Kim*, J. Kim*, S. W. Han, and M. J. Kim, “A Unified Framework for Collision-Free Path Planning and Contact-Compliant Safety Control in Surgical Assistant Robots”, ICCAS 2026, Accepted (* Co-first authors)
  • S. Shin, J. Kim, and M. J. Kim, “Dual-Attachment Cable Suspension System for Zero-Gravity Emulation of Space Manipulators”, ICCAS 2026, Accepted
  • J. Jeong, S. Park, S. Lee, and M. J. Kim, “RCM-Consistent Admittance Control with Inverse-Dynamics QP for Hands-On Robotic Manipulation”, ICCAS 2026, Accepted
  • S. Lee, J. Jeong, S. Shin, and M. J. Kim, “Motor-Side Friction Observer-based Hand Guiding with Joint Torque Measurements”, ICCAS 2026, Accepted
  • Y. B. Lee*, T. H. Yun*, and M. J. Kim, “Extreme High-Gain Friction Observer of Flexible Joint Robots With L1 Adaptive Framework”, IEEE T-RO, accepted (* Co-first authors)

2025

  • T. H. Yun, F. Beck, M. J. Kim† and J. Lee†, “Exact Fractional Order Impedance Rendering for Highly Flexible and Multi-Jointed Robots Using Time-Delay Estimation,” IEEE RA-L
  • F. C. Loeffl, F. Beck, J. Lee, M. J. Kim, and M. Keppler, “A Visco-Elastic Actuator with Linear Gas Spring and Variable Damping,” Mechatronics
  • T. M. Luu, Y. Lee, D. Lee, S. Kim, M. J. Kim, and C. D. Yoo, “Enhancing Rating-Based Reinforcement Learning to Effectively Leverage Feedback from Large Vision-Language Models,” ICML 2025
  • S. W. Han, and M. J. Kim, “CDM: Contact Diffusion Model for Multi-Contact Point Localization,” IEEE ICRA 2025
  • W. Han, and M. J. Kim, “Tension Estimation in Cable Suspended Aerial Systems Using a Nonlinear Disturbance Observer”, IEEE ICCAS 2025

2024

  • K. Kim, M. J. Kim, “SPLIT: SE(3)-diffusion via Local Geometry-based Score Prediction for 3D Scene-to-Pose-Set Matching Problems”, arXiv preprint
  • D. Lee, D. Ko, M. J. Kim, W. K. Chung, “Bidirectional Energy Flow Modulation for Passive Admittance Control,” IEEE T-RO
  • J. Kim, and M. J. Kim, “Disturbance-Aware Model Predictive Control of Underactuated Robotics Systems”, IEEE/RSJ IROS 2024
  • S. Park, and M. J. Kim, “Design of a Fully Actuated Drone with Non-Isotropic Wrench Shape”, IEEE/RSJ IROS 2024
  • T. H. Yun, and M. J. Kim, “Disturbance Observer With Constraints”, IEEE L-CSS 2024
  • S. W. Han, M. Iskandar, J. Lee and M. J. Kim, “Online Multi-Contact Feedback Model Predictive Control for Interactive Robotic Tasks”, IEEE ICRA 2024
  • J. W. Han, D. Park, and M. J. Kim, “Constrained Nonlinear Disturbance Observer for Robotic Systems”, IEEE ICRA 2024
  • M. Song, Y. Kim, M. J. Kim, and D. Park, “Graph-Based 3D Collision-Distance Estimation Network with Probabilistic Graph Rewiring”, IEEE ICRA 2024
  • J. Jeong, S. Park, S. Lee, D. Youn, and M. J. Kim, “Designing an End-to-End UAV System for Insulator Inspection under Transmission Tower Environments”, IEEE ICEIC 2024

2023

  • K. Kim, D. Park, and M. J. Kim, “A Reachability Tree-Based Algorithm for Robot Task and Motion Planning”, IEEE ICRA 2023
  • S. W. Han, and M. J. Kim, “Proprioceptive Sensor-Based Simultaneous Multi-Contact Point Localization and Force Identification for Robotic Arms”, IEEE ICRA 2023
  • J. Jeong, and M. J. Kim, “Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators”, IEEE ICRA 2023
  • Y. Sarkisov, A. Coelho, M. Santos, M. J. Kim, D. Tsetserukou, C. Ott, and K. Kondak, “Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based actuation”, IEEE ICRA 2023

2022

  • J. Jeong, H. Mishra, C. Ott, and M. J. Kim, “A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function”, IEEE ICRA 2022
  • M. J. Kim, A. Werner, F. Loeffl, and C. Ott, “Passive Impedance Control of Robots with Viscoelastic Joints via Inner-loop Torque Control”, IEEE T-RO

2021

  • J. Jeong, M. J. Kim, “Interaction control of under-actuated UAV capable of exerting downward force”, ANBRE21

2020

  • W. Lee, M. J. Kim, and W. K. Chung, “Asymptotically stable disturbance observer-based compliance control of electro-hydrostatic actuators”, IEEE/ASME T-MECH
  • C. Gabellieri, Y. Sarkisov, A. Coelho, L. Pallottino, K. Kondak, and M. J. Kim, “Compliance Control of Cable-Suspended Aerial Manipulator Using Hierarchical Control Framework”, IEEE/RSJ IROS 2020
  • 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
  • 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

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
  • 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
  • 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

2018

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

2017

  • W. Lee, M. J. Kim, and W. K. Chung, “Disturbance-observer-based pd control of electro-hydrostatically actuated flexible joint robots”, IEEE/RSJ IROS 2017
  • M. J. Kim, A. Werner, F. Loeffl, and C. Ott, “Enhancing joint torque control of series elastic actuators with physical damping”, IEEE 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”, IEEE/RSJ IROS 2016
  • M. J. Kim, W. Lee, C. Ott, and W. K. Chung, “A passivity-based admittance control design using feedback interconnections”, IEEE/RSJ IROS 2016
  • W. Lee, M. J. Kim, and W. K. Chung, “Model-free joint torque control strategy for hydraulic robots”, IEEE ICRA 2016
  • M. J. Kim et al., “Powered upper-limb control using passivity-based nonlinear disturbance observer for unknown payload carrying applications”, IEEE 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
  • M. J. Kim, W. Lee, and W. K. Chung, “Carrying heavy payload with limited sensory information using high order disturbance observer”, IEEE/RSJ IROS 2015
  • 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, Y. J. Park, and W. K. Chung, “Design of a momentum-based disturbance observer for rigid and flexible joint robots”, Intelligent Service Robotics
  • M. J. Kim, and W. K. Chung, “Applying disturbance observer to the motor side of flexible joint robots with pd control”, URAI 2015
  • W. Lee, M. J. Kim, and W. K. Chung, “An approach to development of electro hydrostatic actuator (EHA)-based robot joints”, IEEE ICIT 2015

2014

  • M. J. Kim, and W. K. Chung, “Robust control of flexible joint robots based on motor-side dynamics reshaping using disturbance observer (DOB)”, IEEE/RSJ IROS 2014

2013

  • M. J. Kim, and W. K. Chung, “Design of nonlinear H-infinity optimal impedance controllers”, IEEE/RSJ IROS 2013
  • T. Wang et al., “Gradient index lens based combined two-photon microscopy and optical coherence tomography”, Optics Express

2012

  • M. J. Kim, S. Park, and W. K. Chung, “Nonlinear robust internal loop compensator for robust control of robotic manipulators”, IEEE/RSJ 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”, IEEE/RSJ IROS 2011
  • M. J. Kim, and W. K. Chung, “Nonlinear Disturbance observer design for Euler-Lagrange systems: An initial study”, URAI 2011

02 Domestic Publications

2024

  • S. W. Han, M. Iskandar, J. Lee, and M. J. Kim, “Optimization-based Multi-Contact Force Control”, The 19th KRoC
  • J. Han, and M. J. Kim, “QP-Based Precision Robot Motion Control with Robot Environment Interaction Capability and Sensorless Setup”, The 19th KRoC
  • K. Kim, and M. J. Kim, “Manipulation planning, Optimization-based planning, Neural graspable set”, The 19th KRoC

2023

  • S. W. Han, and M. J. Kim, “Multi-Contact Point Localization and Force Identification for Collaborative Robot Arm using Proprioceptive Sensor”, The 18th KRoC
  • J. Jeong, and M. J. Kim, “Decentralized Passive Impedance Control Method for Collaborative Grasping of Aerial Manipulators”, The 18th KRoC
  • K. Kim, D. Park, and M. J. Kim, “Reachability tree-based Task and Motion Planner using Abstract Action Plan Sampling”, The 18th KRoC
  • H. Lee, S. Kim, and M. J. Kim, “Safe Parameter Automated Tuning of Robust Control of Manipulator without Expert Intervention”, KSPE 2023 Autumn Conference

2022

  • S. Lee, J. Jeong, and M. J. Kim, “Implementation of Impedance Controller for Redundant Robot Manipulators Using Extended Exponential Coordinates”, The 37th ICROS (winner of the outstanding undergraduate paper award)

2014

  • M. J. Kim, and W. K. Chung, “Development of disturbance observer for uncertainty estimation of euler-lagrange systems”, The 9th KRoC

2013

  • M. J. Kim, and W. K. Chung, “On the behavior of nonlinear robust internal loop compensator in linear systems”, The 8th KRoC

2010

  • M. J. Kim, K. Lee, and W. K. Chung, “Enhancement of VFH algorithm”, The 5th KRoC

03 Patents

2024

  • 김민준, 한지완 “최소한의 센서 사용으로 안전을 위한 복수의 제약조건 설정이 가능한 로봇 정밀 제어 프레임워크”, 국내특허, 출원번호: 10-2024-0196135/1, 출원일자: 2024.12.24
  • 김민준, 정진영 “회전 변위의 제약이 없는 다관절 로봇의 작업공간 유연제어방법”, 국내특허, 등록번호: 10-2624551, 등록일자: 2024년 1월 9일

2023

  • 김민준, 이효준, 김성민, “전문가 개입 없이 안전한 매니퓰레이터의 강인제어 매개변수 자동 튜닝 방법”, 국내특허, 출원번호: 10-2023-0181280, 출원일자: 2023.12.13
  • 김민준, 한지완, 김지원, “운동량 기반으로 추정한 외력을 이용하여 주변 환경과 상호 작용이 가능한 로봇 제어 시스템 및 방법”, 국내특허, 출원번호: 10-2023-0134387, 출원일자: 2023.10.10