Publications

Grouped by type, then by year. My name is highlighted.

Journals

2026

• Safety-Critical Whole-Body Control for Humanoid Robots via Input-to-State Safe Control Barrier Functions

  K. Lee, S. Park, G. Park, M.-J. Kim, and J. Park

  International Journal of Control, Automation and Systems (IJCAS), to appear

  arXiv Website 3 videos below
  

  

  

• Contact Force Estimation-Guided Reinforcement Learning Framework for Compliant Humanoid Bipedal Walking

  Y. Jo, K. Lee, G. Park, S. Lim, J. Shin, H. Choi, S. Park, J. Park, and S. M. Hur

  The Journal of Korea Robotics Society, vol. 21, no. 3, pp. 269–282

  DOI 2 videos below
  

  

2025

• A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies

  M.-J. Kim, D. Lim, G. Park, K. Lee, and J. Park

  IEEE Transactions on Robotics, vol. 41, pp. 3297–3316

  DOI 2 videos below
  

  

• Real-Time Whole-Body Model Predictive Control for Versatile 3D Bipedal Locomotion via Novel Kino-Dynamic Model

  J. Kim, K. Lee, S. Park, and J. Park

  IEEE Access

  DOI

2024

• Advances in Humanoid Robot Walking Technologies: A Review

  M.-J. Kim, D. Lim, D. Kim, J. Cha, J. Shin, W. Cha, G. Park, K. Lee, and J. Park

  Journal of Institute of Control, Robotics and Systems, vol. 30, no. 4, pp. 412–422

  DOI

• Performance Evaluation of Robotic Physics Engine for Mobile Manipulator Simulation

  K. Lee, J. Yoon, S. Park, and J. Park

  The Journal of Korea Robotics Society, vol. 19, no. 1, pp. 31–38

  DOI

Conferences

2026

• Humanoid Walking Stabilization via Full Stepping Strategy based on Three-Dimensional Divergent Component of Motion

  G. Park, K. Lee, S. Park, J. R. Cha, and J. Park

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), to appear

  PDF

• Whole-Body Model Predictive Control with Swing Foot Motion Guidance for Robust Humanoid Locomotion

  S. Lim, K. Lee, and J. Park

  Institute of Control, Robotics and Systems (ICROS) Annual Conference, pp. 580–581

  DBpia

• Actuator Network for Bipedal Robots with Parallel Four-bar Linkage

  S. Lim, K. Lee, Y. Jo, and J. Park

  Institute of Control, Robotics and Systems (ICROS) Annual Conference, pp. 567–568

  DBpia

2025

• Humanoid Walking Stabilization via Model Predictive Control with Step Adjustment Based on the 3D Divergent Component of Motion

  G. Park, M.-J. Kim, K. Lee, and J. Park

  IEEE International Conference on Robotics and Automation (ICRA), pp. 14707–14713

  DOI

• Balance Control of Humanoid Robots Using Control Barrier Functions for Self-Collision Avoidance and Centroidal Angular Momentum

  S. Park, K. Lee, and J. Park

  Institute of Control, Robotics and Systems (ICROS) Annual Conference, pp. 259–260

  DBpia

Preprints

2026

• DODGER: Safety-Guided Reinforcement Learning for Robot Navigation Among Dynamic Obstacles

  S. Park, K. Lee, T. Kim, S. Lim, and Y. Lee

  arXiv preprint arXiv:2609.38873

  arXiv Website 1 video below
  

2025

• Phase-based Nonlinear Model Predictive Control for Humanoid Walking Stabilization with Single and Double Support Time Adjustments

  K. Lee, G. Park, M.-J. Kim, and J. Park

  arXiv preprint arXiv:2506.03856

  arXiv 1 video below
  

Also on Google Scholar. A full CV is available on request.