2024

Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination
Jaemin Lee, Min Dai, Jeeseop Kim, and Aaron D. Ames
Submitted
arxiv

Safety-critical Autonomous Inspection of Distillation Columns using Quadruped Robots Equipped with Roller Arms
Jaemin Lee, Jeeseop Kim, and Aaron D. Ames
Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024
arxiv

Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers
Seung Hyeon Bang, Jaemin Lee, Carlos Gonzalez, and Luis Sentis
Accepted to IEEE International Conference on Decision and Control (CDC) 2024
arxiv

Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments
Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker, Tamas G. Molnar, and Aaron D. Ames
IEEE International Conference on Robotics and Automation (ICRA) 2024
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Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions
Jeeseop Kim, Jaemin Lee, and Aaron D. Ames
IEEE International Conference on Robotics and Automation (ICRA) 2024
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A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints
Jaemin Lee, Jeeseop Kim, and Aaron D. Ames
American Control Conference (ACC) 2024
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Multi-domain Walking with Reduced-order Models of Locomotion
Min Dai, Jaemin Lee, Aaron D. Ames
American Control Conference (ACC) 2024
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2023

Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots
Jaemin Lee, Jeeseop Kim, and Aaron D. Ames
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023
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Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions
Jeeseop Kim, Jaemin Lee, and Aaron D. Ames
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023
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Data-driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics
Min Dai, Xiaobin Xiong, Jaemin Lee, and Aaron D. Ames
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023
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Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control
Jaemin Lee, Mingyo Seo, Andrew Bylard, Robert Sun, and Luis Sentis
IEEE International Conference on Robotics and Automation (ICRA) 2023
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Sample Efficient Dynamics Learning for Symmetrical Legged Robots: Leveraging Physics Invariance and Geometric Symmetries
Jee-Eun, Jaemin Lee, Tirthankar Bandyopadhyay, and Luis Sentis
IEEE International Conference on Robotics and Automation (ICRA) 2023
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2022

Hierarchical Covariance Control for Robots via Task-Space Linearization and Chance Constraints
Jaemin Lee, Efstathios Bakolas, and Luis Sentis
IEEE Control Systems Letters 6 (2022): 2359-2364
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Online Gain Adaptation for Whole-Body Control of Legged Robots with Unknown External Disturbances
Jaemin Lee, Junhyeok Ahn, Donghyun Kim, Seung Hyeon Bang, and Luis Sentis
Frontiers in Robotics and AI, 8 (2022)
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2021

Efficient Trajectory Generation for Robotic Systems Constrained by Contact Forces
Jaemin Lee, Efstathios Bakolas, and Luis Sentis
Autonomous Robots, 45 (2021): 105-153
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2020

Data Efficient and Safe Learning for Locomotion via Simplified Model
Junhyeok Ahn, Jaemin Lee, and Luis Sentis
IEEE Robotics and Automation Letters(R-AL), 5 (3) (2020): 4376-4383
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Dynamic Locomotion for Passive-Ankle Biped Robots and Humanoids Using Whole-Body Locomotion Control
Donghyun Kim, Steven Jorgensen, Jaemin Lee, Junhyeok Ahn, Jianwen Lui, and Luis Sentis
International Journal of Robotics Research (IJRR), 39 (8) (2020): 936-956
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MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks
Jaemin Lee, Seung Hyeon Bang, Efstathios Bakolas, and Luis Sentis
IEEE International Conference on Decision and Control (CDC) 2020
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BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning
Hinghan He, Jaemin Lee, Ufuk Topcu, and Luis Sentis
IEEE International Conference on Decision and Control (CDC) 2020
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Reachability-based trajectory optimization for robotic systems given sequences of rigid contacts
Jaemin Lee, Junhyeok Ahn, Efstathios Bakolas, and Luis Sentis
American Control Conference (ACC) 2020
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2019

Trajectory generation for robotic systems with contact force constraints
Jaemin Lee, Efstathios Bakolas, and Luis Sentis
American Control Conference (ACC) 2019
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2018

Computationally-robust and efficient prioritized whole-body controller with contact constraints
Donghyun Kim, Jaemin Lee, Junhyeok Ahn, Orion Campbell, Hocheol Hwang, and Luis Sentis
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018
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2017

A Control Scheme to Minimize Muscle Energy for Power Assistant Robotics Systems under Unknown External Perturbation
Jaemin Lee, Minkyu Kim, and Keehoon Kim
IEEE Transaction on Neural Systems and Rehabilitation Engineering 25. 12 (2017): 2310-2327
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On the Design of a Miniature Haptic Ring for Cutaneous Force Feedback using Shape Memory Alloy Actuators
Donghyun Hwang, Jaemin Lee, and Keehoon Kim
Smart Materials and Structures 26. 10 (2017)
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2016

Flexible piezoelectric energy harvesting from mouse click motions
Youngsu Cha, Jin Hong, Jaemin Lee, Jung Min Park, and Keehoon Kim
Sensors 16.7 (2016): 1045
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A Feasibility Test of Underactuated Robotic Prosthetic Fingers Actuated by Shape Memory Alloy
Jaemin Lee, Donghyun Hwang, Minkyu Kim, and Keehoon Kim
IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2016
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Enhancement of sEMG-based Gesture Classification Using Mahalanobis Distance Metric
Minkyu Kim, Jaemin Lee, and Keehoon Kim
IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2016
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Tele-operation system with Reliable Grasping Force Estimation to Compensate for the Time-varying sEMG Feature
Minkyu Kim, Jaemin Lee, and Keehoon Kim
IEEE International Conference on Robotics and Automation (ICRA) 2016
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2015

A Robust Control Method of Multi-DOF Power-Assistant Robots for Unknown External Perturbation using sEMG Signals
Jaemin Lee, Minkyu Kim, and Keehoon Kim
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015
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2014

A control Method of Power-Assisted Robot for Upper Limb considering Intention-based Motion by Using sEMG Signal
Jaemin Lee, Minkyu Kim, Hyunkyu Ko and Keehoon Kim
International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2014
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A preliminary analysis of window size and voting size with a time delay for a robust real-time sEMG pattern recognition
Minkyu Kim, Jaemin Lee, Hyunkyu Ko and Keehoon Kim
International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2014
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Integrated Control Method for Power-Assisted Rehabilitation: Ellipsoid Regression and Impedance Control
Jaemin Lee, Minkyu Kim and Keehoon Kim
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2014
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2013

Control Strategies for Manipulating Contact Force of Impact Wrench to Generate High Level Torque
Jaemin Lee, Dong-Shin Ko, Young-Hwan Jeon and Deog-Jae Hur
International Conference on Control, Automation and Systems (ICCAS) 2013
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2012

Intermediate desired value approach for task transition of robots in kinematic control
Jaemin Lee, Nicolas Mansard, and Jaeheung Park
IEEE Transactions on Robotics 28.6 (2012): 1260-1277
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A Continuous Task Transition Algorithm for Operational Space Control Framework
Hyejin Han, Jaemin Lee and Jaeheung Park
International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2012
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2010

Intermediate Desired Value Approach for Continuous Transition among Multiple Tasks of Robots
Jaemin Lee, Nicolas Mansard and Jaeheung Park
IEEE International Conference on Robotics and Automation (ICRA) 2010
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