Seungkook Yun

Senior Software Engineer
Robotics Division in the SRI International

I worked on Honda Research Institute USA as a scientist.
I finished My Ph.D. in Distributed Robotics Laboratory,
Computer Science and Artificial Intelligence Laboratory,
MIT

Contact : yunsk at csail.mit.edu

Research Interest

Robotics, Distributed Algorithms, Compliant Manipulation, Machine Learning

Projects

Self-reconfigurable Modular Manipulators

Controlling the Autonomously Reconfiguring Stochastic Factory

Coordinating construction by a distributed multi-robot system

Safe fall strategies for humanoid robots (at Honda Research Institute)

Selected Publications

Journal Papers

CarrickDetweiler, Marsette Vona, Yeoreum Yoon, Seung-kook Yun, Daniela Rus,“Self-assembling Mobile Linkages ,”  IEEE Robotics and Automation Magazine, Vol. 14, no. 4, pp. 45-55, 2007 ( pdf)

Seung-kook Yun, Daniela Rus, “ Optimal Self Assembly of Modular Manipulators with Active and Passive Modules,” Autonomous Robots, Vol. 31, no. 2-3, pp. 183-207, 2011

Ambarish Goswami, Seung-kook Yun, Umashankar Nagarajan, Sung-Hee Lee, KangKang Yin and Shivaram Kalyanakrishnan, “ Direction-Changing Fall Control in Humanoid Robots: Theory and Experiments ,” Autonomous Robots, March 2014, Volume 36, Issue 3, pp 199-223

Seung-kook Yun, Daniela Rus, “ Distributed Coverage with Mobile Robots on a Graph: Locational Optimization and Equal-mass Partitioning,” Robotica, pp 1-21, 2013

Seung-kook Yun, Daniela Rus, “ Adaptive Coordinating Construction of Truss Structures using Distributed Equal-mass Partitioning,” IEEE Transactions on Robotics, Feb 2014, Volume 30, Issue 1, pp 188-202

Conference Papers

Seung-kook Yun, Daniela Rus,“Optimal Distributed Planning of Multi-Robot Placement on a 3DTruss,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1365-1370, San Diego, USA, Oct, 2007 ( pdf)

Seung-kook Yun, Yeoreum Yoon, DanielaRus, “Self Assembly of Modular Manipulators with Active and Passive Modules,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems Workshop on Self-Reconfigurable Robots, San Diego,USA, Oct, 2007 ( pdf)

Seung-kook Yun, Daniela Rus,“Self Assembly of Modular Manipulators with Active and Passive Modules,”Proc. of IEEE/RSJ IEEE International Conference on Robotics and Automation, 2008 ( pdf)

Seung-kook Yun, Daniela Rus,“Optimal Distributed Planning for Self Assembly of ModularManipulators,”IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008 ( pdf)

Seung-kook Yun “ Compliant Manipulation for Peg-in-Hole: is Passive Compliance a Key to Learn Contact Motion?” Proc. of IEEE/RSJ IEEE International Conference on Robotics and Automation, 2008 ( pdf)

Seung-kook Yun, David Alan Hjelle, Eric Schweikardt, Hod Lipson, Daniela Rus,“Planning the Reconfiguration of Grounded Truss Structures with Truss Climbing Robots that Carry Truss Elements,”Proc. of IEEE/RSJ IEEE International Conference on Robotics and Automation, 2009 ( pdf)

Seung-kook Yun, Ambarish Goswami, Yoshiaki Sakagami, “ Safe Fall: Humanoid robot fall direction change through support base geometry modification,” Proc. of IEEE/RSJ IEEE International Conference on Robotics and Automation, 2009 ( pdf)

Seung-kook Yun, Mac Schwager, Daniela Rus, “ Coordinating Construction of Truss Structures using Distributed Equal-mass Partitioning,” Proc. of the 14th International Symposium on Robotics Research, 2009 (pdf)

Seung-kook Yun, Daniela Rus, “ Adaptation to robot failures and shape change in decentralized construction,” Proceedings of IEEE International Conference on Robotics and Automation, 2010 (pdf)

Adrienne Bolger, Matthew Faulkner, David Stein, Lauren White, Seung-kook Yun, Daniela Rus, “ Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots, ” IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Seung-kook Yun, Ambarish Goswami, “ Momentum-based Reactive Stepping Controller on Level and Non-level Ground for Humanoid Robot Push Recovery,” IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Seung-kook Yun, Ambarish Goswami, “ Humanoid Robot Safe Fall using Aldebaran NAO,” Proceedings of IEEE International Conference on Robotics and Automation, St. Paul, USA, 2012

Seung-kook Yun, Daniela Rus, “ Distributed Coverage with Mobile Robots on a Graph: Locational Optimization,” Proceedings of IEEE International Conference on Robotics and Automation, St. Paul, USA, 2012

Courses at MIT

6.041 Probabilistic Systems Analysis

9.520 Statistical Learning Theory and Applications ( project )

6.829 Computer Networks ( project )

6.867 Machine Learning ( project )

6.869 Advances in Computer Vision ( project )

6.881 Underactuated Robotics ( project )

6.094 Introduction to MATLAB

6.854 Advanced Algorithms ( project )

Links