Jeeseop Kim

Overview Cooperative Robotics Safety Critical Control Quadrupedal Robot/Humanoid

Cooperative Robotics

Future cities will include a complex and interconnected network of collaborative robots that cooperatively work with each other and people to support human societies. Human-centered communities, including factories, offices, and homes, are developed for humans who are bipedal walkers capable of stepping over gaps, walking up/down stairs, and climbing ladders. One of the most challenging problems in deploying the next generation of collaborative robots is maneuvering in those complex environments. Although significant theoretical and technological advances have allowed the development of distributed controllers for motion control of multi-agent robotic systems, existing approaches do not address the collaborative locomotion problem of legged robots.

To this end, my research aims to establish a formal foundation based on nonlinear control and optimization theory to develop hierarchical feedback control algorithms for effective motion control of cooperative legged robots.

Research Aims

Research thread aims to realize the goal of deploying legged robots that cooperatively locomote to transport objects in complex environments.