Joon-Ha Kim

KAIST

H-index: 6

Asia-South Korea

About Joon-Ha Kim

Joon-Ha Kim, With an exceptional h-index of 6 and a recent h-index of 6 (since 2020), a distinguished researcher at KAIST, specializes in the field of robotics, control, state estimation, footstep planning.

His recent articles reflect a diverse array of research interests and contributions to the field:

Invariant Smoother for Legged Robot State Estimation With Dynamic Contact Event Information

Seamless reaction strategy for bipedal locomotion exploiting real-time nonlinear model predictive control

Real time humanoid footstep planning with foot angle difference consideration for cost-to-go heuristic

Contact-implicit mpc: Controlling diverse quadruped motions without pre-planned contact modes or trajectories

Design of KAIST HOUND, a quadruped robot platform for fast and efficient locomotion with mixed-integer nonlinear optimization of a gear train

Monte carlo tree search gait planner for non-gaited legged system control

STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor

Contact-implicit differential dynamic programming for model predictive control with relaxed complementarity constraints

Joon-Ha Kim Information

University	KAIST
Position	___
Citations(all)	100
Citations(since 2020)	100
Cited By	4
hIndex(all)	6
hIndex(since 2020)	6
i10Index(all)	5
i10Index(since 2020)	5
Email	Access Email
University Profile Page	KAIST
Google Scholar	View Google Scholar Profile

Joon-Ha Kim Skills & Research Interests

robotics

control

state estimation

footstep planning

Top articles of Joon-Ha Kim

Title	Journal	Author(s)	Publication Date
Invariant Smoother for Legged Robot State Estimation With Dynamic Contact Event Information	IEEE Transactions on Robotics	Ziwon Yoon Joon-Ha Kim Hae-Won Park	2023/10/30
Seamless reaction strategy for bipedal locomotion exploiting real-time nonlinear model predictive control	IEEE Robotics and Automation Letters	JongHun Choe Joon-Ha Kim Seungwoo Hong Jinoh Lee Hae-Won Park	2023/6/30
Real time humanoid footstep planning with foot angle difference consideration for cost-to-go heuristic		Joon-Ha Kim Young-Ha Shin Hyobin Jeong Jun-Ho Oh Hae-Won Park	2023/6/25
Contact-implicit mpc: Controlling diverse quadruped motions without pre-planned contact modes or trajectories	arXiv preprint arXiv:2312.08961	Gijeong Kim Dongyun Kang Joon-Ha Kim Seungwoo Hong Hae-Won Park	2023/12/14
Design of KAIST HOUND, a quadruped robot platform for fast and efficient locomotion with mixed-integer nonlinear optimization of a gear train		Young-Ha Shin Seungwoo Hong Sangyoung Woo JongHun Choe Harim Son ...	2022/5/23
Monte carlo tree search gait planner for non-gaited legged system control		Lorznzo Amatucci Joon-Ha Kim Jemin Hwangbo Hae-Won Park	2022/5/23
STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor	IEEE Robotics and Automation Letters	Yeeun Kim Byeongho Yu Eungchang Mason Lee Joon-ha Kim Hae-won Park ...	2022/2/14
Contact-implicit differential dynamic programming for model predictive control with relaxed complementarity constraints		Gijeong Kim Dongyun Kang Joon-Ha Kim Hae-Won Park	2022/10/23
DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators		Tae-Gyu Song Young-Ha Shin Seungwoo Hong Hyungho Chris Choi Joon-Ha Kim ...	2022/10/23
Design of foothold decision model in convex model predictive control for legged robots		Min-Gyu Kim Seungwoo Hong Joon-Ha Kim Hae-Won Park	2021/12/16
Legged robot state estimation with dynamic contact event information	IEEE Robotics and Automation Letters	Joon-Ha Kim Seungwoo Hong Gwanghyeon Ji Seunghun Jeon Jemin Hwangbo ...	2021/6/30
Real-time constrained nonlinear model predictive control on SO(3) for dynamic legged locomotion		Seungwoo Hong Joon-Ha Kim Hae-Won Park	2020/10/24