Publications

Bledt, G., and S. Kim, "Extracting Legged Locomotion Heuristics with Regularized Predictive Control", 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 06/2020.

Kim, D., D. A. Carballo, J. Di Carlo, B. Katz, G. Bledt, B. Wei Tern Lim, and S. Kim, "Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot", 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 06/2020.

Ramos, J., and S. Kim, "Dynamic locomotion synchronization of bipedal robot and human operator via bilateral feedback teleoperation", Science Robotics, vol. 4, 2019.

Boussema, C., M. J. Powell, G. Bledt, A. J. Ijspeert, P. M. Wensing, and S. Kim, "Gait Emergence and Disturbance Recovery for Legged Robots via the Feasible Impulse Set", IEEE Robotics and Automation Letters, 05/2019.

Bledt, G., and S. Kim, "Implementing Regularized Predictive Control for Simultaneous Real-Time Footstep and Ground Reaction Force Optimization", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 11/2019.

Katz, B., J. Di Carlo, and S. Kim, "Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control", International Conference on Robotics and Automation (ICRA), 2019.

Bledt, G., P. M. Wensing, S. Ingersoll, and S. Kim, "Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains", 2018 IEEE International Conference on Robotics and Automation (ICRA) Finalist Best Overall Paper & Finalist Best Student Paper, May, 2018.

Ramos, J., and S. Kim, "Dynamic Bilateral Teleoperation of the Cart-Pole: A Study Toward the Synchronization of Human Operator and Legged Robot", IEEE/RSJ International Conference on Intelligent Robotics (IROS), 10/2018.

Di Carlo, J., P.. M. Wensing, B. Katz, G. Bledt, and S. Kim, "Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control", IEEE/RSJ International Conference on Intelligent Robotics (IROS), 10/2018.

Ramos, J., and S. Kim, "Facilitating Model-Based Control through Software-Hardware Co-Design", IEEE International Conference on Robotics and Automation (ICRA), 05/2018.

Ramos, J., and S. Kim, "Humanoid Dynamic Synchronization through Whole-Body Bilateral Feedback Teleoperation", IEEE Transactions in Robotics, 2018.

Wensing, P.. M., S.. Kim, and J.. E. Slotine, "Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution", IEEE Robotics and Automation Letters, vol. 3, pp. 60-67, Jan, 2018.

Bledt, G., M. J. Powell, B. Katz, J. Di Carlo, P. M. Wensing, and S. Kim, "MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot", IEEE/RSJ International Conference on Intelligent Robotics (IROS), 10/2018.

Kim, S., and P. M. Wensing, "Design of Dynamic Legged Robots", Foundations and Trends® in Robotics, vol. 5, pp. 117–190, 2017.

Park, H-W., P. M. Wensing, and S. Kim, "High-speed bounding with the MIT Cheetah 2: Control design and experiments", The International Journal of Robotics Research, vol. 36, pp. 167-192, 2017.

Ramos, J., and S. Kim, "Improving humanoid posture Teleoperation by Dynamic Synchronization through operator motion anticipation", IEEE International Conference on Robotics and Automation (ICRA), 06/2017.

Bledt, G., P. M. Wensing, and S. Kim, "Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah", 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sept, 2017.

Wensing, P. M., A. Wang, S. Seok, D. Otten, J. Lang, and S. Kim, "Proprioceptive actuator design in the MIT cheetah: Impact mitigation and high-bandwidth physical interaction for dynamic legged robots", IEEE Transactions on Robotics, 2017.

Yim, S., S. Miyashita, D. Rus, and S. Kim, "Teleoperated Micromanipulation System Manufactured by Cut-and-Fold Techniques", IEEE Transactions on Robotics, 2017.

Kim, S., Future of Humanoids, , Palm Spring, CA, Amazon MARS event.

Hyun, D. Jin, J. Lee, SI. Park, and S. Kim, "Implementation of trot-to-gallop transition and subsequent gallop on the MIT Cheetah I", The International Journal of Robotics Research, vol. 35, pp. 1627–1650, 2016.

Chuah, M.Y.M.., and S. Kim, "Improved normal and shear tactile force sensor performance via Least Squares Artificial Neural Network (LSANN)", Robotics and Automation (ICRA), 2016 IEEE International Conference on: IEEE, 2016.

Bosworth, W., J. Whitney, S. Kim, and N. Hogan, "Robot locomotion on hard and soft ground: Measuring stability and ground properties in-situ", Robotics and Automation (ICRA), 2016 IEEE International Conference on: IEEE, 2016.

Ramos, J., A. Wang, and S. Kim, "Robot-human balance state transfer during full-body humanoid teleoperation using Divergent Component of Motion dynamics", Robotics and Automation (ICRA), 2016 IEEE International Conference on: IEEE, 2016.

Ramos, J., A. Wang, and S. Kim, "A Balance Feedback Human Machine Interface for humanoid teleoperation in dynamic tasks", Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on: IEEE, 2015.

Ramos, J.., A.. Wang, W.. Ubellacker, J.. Mayo, and S. Kim, "A balance feedback interface for whole-body teleoperation of a humanoid robot and implementation in the HERMES system", Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, Nov, 2015.

Sanneman, L., D. Ajilo, J. DelPreto, A. Mehta, S. Miyashita, N. Abdolrahim Poorheravi, C. Ramirez, S. Yim, S. Kim, and D. Rus, "A Distributed Robot Garden System", Robotics and Automation (ICRA), 2015 IEEE International Conference on: IEEE, 2015.

Seok, S., A. Wang, M.Y.M.. Chuah, D.J. Hyun, J. Lee, D.M. Otten, J.H. Lang, and S. Kim, "Design Principles for Energy-Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot", IEEE/ASME Transactions on Mechatronics, vol. 20, issue 3, pp. 1117 - 1129, 2015.

Wang, A., and S. Kim, "Directional efficiency in geared transmissions: Characterization of backdrivability towards improved proprioceptive control", Robotics and Automation (ICRA), 2015 IEEE International Conference on: IEEE, 2015.

Park, H-W., and S. Kim, "Galloping Control for a Wide Range of Speed via Vertical Impulse Scaling", Journal of Bioinspiration and Biomimetics, vol. 10(2), issue Special Issue on Hybrid and Multi-model Locomotion, 2015.

Haberland, M., and S. Kim, "On extracting design principles from biology: I. Method–General answers to high-level design questions for bioinspired robots", Bioinspiration & Biomimetics, vol. 10, issue 1, 2015.

Haberland, M., and S. Kim, "On extracting design principles from biology: II. Case study--the effect of knee direction on bipedal robot running efficiency", Bioinspiration & Biomimetics, vol. 10, issue 1, 2015.

Park, H-W., P. M. Wensing, and S. Kim, Online planning for autonomous running jumps over obstacles in high-speed quadrupeds, , 2015.

Park, H-W., P. M. Wensing, and S. Kim, "Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds", Robotics: Science and Systems, 2015.

Yim, S., and S. Kim, "Origami-inspired printable tele-micromanipulation system", Robotics and Automation (ICRA), 2015 IEEE International Conference on: IEEE, 2015.

Niiyama, R., X. Sun, C. Sung, B. An, D. Rus, and S. Kim, "Pouch motors: Printable soft actuators integrated with computational design", Soft Robotics, vol. 2, pp. 59-70, 2015.

Sun, X., S. M. Felton, R. J. Wood, and S. Kim, "Printing angle sensors for foldable robots", Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on: IEEE, 2015.

Park, H-W., and S. Kim, "Quadrupedal galloping control for a wide range of speed via vertical impulse scaling", Bioinspiration & Biomimetics, vol. 10, issue 2, pp. 025003, 2015.

Sun, X., S. M. Felton, R. Niiyama, R. J. Wood, and S. Kim, "Self-folding and self-actuating robots: A pneumatic approach", Robotics and Automation (ICRA), 2015 IEEE International Conference on: IEEE, 2015.

Karssen, J. G. D., M. Haberland, M. Wisse, and S. Kim, "The effects of swing-leg retraction on running performance: analysis, simulation, and experiment", Robotica, vol. 33, issue 10, pp. 2137-2155, December 2015.

Wang, A.., J.. Ramos, J.. Mayo, W.. Ubellacker, J.. Cheung, and S. Kim, "The HERMES humanoid system: A platform for full-body teleoperation with balance feedback", Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, Nov, 2015.

Bosworth, W., S. Kim, and N. Hogan, "The MIT Super Mini Cheetah: A small, low-cost quadrupedal robot for dynamic locomotion", Safety, Security, and Rescue Robotics (SSRR), 2015 IEEE International Symposium on: IEEE, 2015.

Park, H-W., SI. Park, and S. Kim, "Variable-speed quadrupedal bounding using impulse planning: Untethered high-speed 3D Running of MIT Cheetah 2", Robotics and Automation (ICRA), 2015 IEEE International Conference on, May, 2015.

Seok, S., D. Jin Hyun, SI. Park, D.. Otten, and S. Kim, "A highly parallelized control system platform architecture using multicore CPU and FPGA for multi-DoF robots", Robotics and Automation (ICRA), 2014 IEEE International Conference on, May, 2014.

Kim, Y. J., S. Cheng, S. Kim, and K. Iagnemma, "A Stiffness-Adjustable Hyper-Redundant Manipulator using a Variable Neutral-line Mechanism for Minimally Invasive Surgery", IEEE Transactions on Robotics, vol. 30, issue 2, pp. 382 - 395, 2014.

Chuah, M.Y.M.., and S. Kim, "Enabling Force Sensing during Ground Locomotion: A bio-inspired, multi-axis, composite force sensor using discrete pressure mapping.", IEEE Sensors Journal, vol. 14, issue 5, pp. 1693 - 1703, 05/2014.

Hyun, D. Jin, S. Seok, J. Lee, and S. Kim, "High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah", The International Journal of Robotics Research, vol. 33, pp. 1417-1445, 2014.

Lee, J., D. Jin Hyun, J. Ahn, S. Kim, and N.. Hogan, "On the dynamics of a quadruped robot model with impedance control: Self-stabilizing high speed trot-running and period-doubling bifurcations", Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, Sept, 2014.

Niiyama, R.., D.. Rus, and S. Kim, "Pouch Motors: Printable/inflatable soft actuators for robotics", Robotics and Automation (ICRA), 2014 IEEE International Conference on, May, 2014.

Park, H-W., M.Y.M.. Chuah, and S. Kim, "Quadruped bounding control with variable duty cycle via vertical impulse scaling", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Sept, 2014.

Bosworth, W.., S. Kim, and N.. Hogan, "The effect of leg impedance on stability and efficiency in quadrupedal trotting", Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, Sept, 2014.

Park, H-W., and S. Kim, "The MIT Cheetah, an Electrically-Powered Quadrupedal Robot for High-speed Running", 日本ロボット学会誌, vol. 32, pp. 323-328, 2014.

Kim, Y. J., S. Cheng, S. Kim, and K. Iagnemma, "A Novel Layer Jamming Mechanism With Tunable Stiffness Capability for Minimally Invasive Surgery", IEEE Transactions on Robotics, vol. 29, issue 4, pp. 1031 - 1042, 04/2013.

Seok, S., A. Wang, M.Y.M.. Chuah, D. Otten, J. Lang, and S. Kim, "Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot", Robotics and Automation (ICRA), 2013 IEEE International Conference on, Karlsruhe, Germany, IEEE, 05/2013.

Seok, S., C.D.. Onal, K-J. Cho, R.J.. Wood, D.. Rus, and S. Kim, "Meshworm: A Peristaltic Soft Robot With Antagonistic Nickel Titanium Coil Actuators", IEEE/ASME Transactions on Mechatronics, vol. 18, pp. 1485-1497, Oct, 2013.

Kim, S., C. Laschi, and B. Trimmer, "Soft robotics: a bioinspired evolution in robotics", Trends in Biotechnology, vol. 31, issue 5, pp. 287-294, 05/2013.

Metin, S., A. Menciassi, A. Jan Ijspeer, K. Huat Low, and S. Kim, "Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics", IEEE/ASME Transactions on Mechatronics, vol. 18, issue 2, pp. 409 - 418, 01/2013.

Ananthanarayanan, A., S. Foong, and S. Kim, "A compact two DOF magneto-elastomeric force sensor for a running quadruped", Robotics and Automation (ICRA), 2012 IEEE International Conference on, Saint Paul, MN, IEEE, 05/2012.

Seok, S., A. Wang, D. Otten, and S. Kim, "Actuator design for high force proprioceptive control in fast legged locomotion", Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Vilamoura, Portugal, IEEE, 10/2012.

Chuah, M.Y.M.., M. Estrada, and S. Kim, "Composite Force Sensing Foot Utilizing Volumetric Displacement of a Hyperelastic Polymer", Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Vilamoura, Portugal, IEEE, 10/2012.

Kim, Y. J., S. Cheng, S. Kim, and K. Iagnemma, "Design of a tubular snake-like manipulator with stiffening capability by layer jamming", Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Vilamoura, Portugal, IEEE, 10/2012.

Valenzuela, A., and S. Kim, "Optimally Scaled Hip-Force Planning: A Control Approach for Quadrupedal Running", Robotics and Automation (ICRA), 2012 IEEE International Conference on, Saint Paul, MN, IEEE, 05/2012.

Folkertsma, G. A., S. Kim, and S. Stramigioli, "Parallel Stiffness in a Bounding Quadruped with Flexible Spine", Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Vilamoura, Portugal, IEEE, 10/2012.

Briggs, R., J. Lee, M. Haberland, and S. Kim, "Tails in Biomimetic Design: Analysis, Simulation, and Experiment", Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Vilamoura, Portugal, IEEE, 11/2012.

Ananthanarayanan, A., M. Azadi, and S. Kim, "Towards a bio-inspired leg design for high-speed running", Bioinspiration & Biomimetics, vol. 7, issue 4, 08/2012.

Haberland, M., J. G. D. Karssen, S. Kim, and M. Wisse, "The effect of swing leg retraction on running energy efficiency", Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, San Francisco, CA, IEEE, 09/2011.

Karssen, J. G. D., M. Haberland, M. Wisse, and S. Kim, "The optimal swing-leg retraction rate for running", Robotics and Automation (ICRA), 2011 IEEE International Conference on, Shanghai, China, IEEE, 05/2011.

Seok, S., C. D. Onal, R. Wood, D. Rus, and S. Kim, "Peristaltic locomotion with antagonistic actuators in soft robotics", Robotics and Automation (ICRA), 2010 IEEE International Conference on, Anchorage, AK, IEEE, 05/2010.

Hawkes, E., B. An, N. M. Benbernou, H. Tanaka, S. Kim, E. D. Demaine, D. Rus, and R. J. Wood, "Programmable matter by folding", Proceedings of the National Academy of Sciences, vol. 107, issue 28, pp. 12441-12445, 2010.

Cutkosky, M., and S. Kim, "Design and fabrication of multi-material structures for bioinspired robots", Philosophical Transaction of the Royal Society, vol. 367, issue 1894, pp. 1799-1813, 05/2009.

Kim, S., E. Hawkes, K. Cho, M. Jolda, J. Foley, and R. Wood, "Micro artificial muscle fiber using NiTi spring for soft robotics", Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, St Louis, MO, IEEE, 10/2009.

Santos, D., B. Heyneman, S. Kim, N. Esparza, and M. R. Cutkosky, "Gecko-inspired climbing behaviors on vertical and overhanging surfaces", Robotics and Automation, 2008. (ICRA 2008). IEEE International Conference on, Pasadena, CA, IEEE, 05/2008.

Kim, S., M. Spenko, S. Trujilo, B. Heyneman, D. Santos, and M. Cutkosky, "Smooth Vertical Surface Climbing With Directional Adhesion", Robotics, IEEE Transactions on, vol. 24, issue 1, pp. 65 - 74, 02/2008.

Santos, D., M. Spenko, A. Parness, S. Kim, and M. Cutcosky, "Directional Adhesion for Climbing: Theoretical and Practical Considerations", Journal of Adhesion Science and Technology, vol. 21, issue 12-13, pp. 1317-1341, 2007.

Santos, D., S. Kim, M. Spenko, A. Parness, and M. R. Cutkosky, "Directional Adhesive Structures for Controlled Climbing on Smooth Vertical Surfaces", Robotics and Automation, 2007 IEEE International Conference on, Roma, Italy, IEEE, 04/2007.

Kim, S., M. Spenko, S. Trujillo, B. Heyneman, V. Mattoli, and M. R. Cutkosky, "Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot", Robotics and Automation, 2007 IEEE International Conference on, Roma, Italy, IEEE, 04/2007.

Asbeck, A. T., S. Kim, M. R. Cutcosky, W. R. Provancher, and M. Lanzetta, " Scaling Hard Vertical Surfaces with Compliant Microspine Arrays", The International Journal of Robotics Research, vol. 25, issue 12, pp. 1165-1179, 12/2006.

Kim, S., J. E. Clark, and M. R. Cutcosky, "iSprawl: Design and Tuning for High-speed Autonomous Open-loop Running", The International Journal of Robotics Research, vol. 25, issue 9, pp. 903-912, 09/2006.

Asbeck, A. T., S. Kim, W. R. Provancher, M. R. Cutkosky, and M. Lanzetta, "Scaling hard vertical surfaces with compliant microspine arrays", Robotics: Science and Systems, Cambridge, MA, 06/2005.

Kim, S., A. T. Asbeck, M. R. Cutkosky, and W. R. Provancher, "SpinybotII: climbing hard walls with compliant microspines", Advanced Robotics, 2005. (ICAR '05). Proceedings, 12th International Conference on, Seattle, WA, IEEE, 07/2005.

Kim, S., J. E. Clark, and M. R. Cutkosky, "iSprawl : Autonomy, and the Effects of Power Transmission", Climbing and Walking Robots, Madrid, Spain, pp. 859-867, 06/2004.