S
Sung-Kyun Kim
Researcher at Carnegie Mellon University
Publications - 44
Citations - 434
Sung-Kyun Kim is an academic researcher from Carnegie Mellon University. The author has contributed to research in topics: Partially observable Markov decision process & Robot. The author has an hindex of 9, co-authored 38 publications receiving 303 citations. Previous affiliations of Sung-Kyun Kim include Jet Propulsion Laboratory & KAIST.
Papers
More filters
Posted Content
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion
Amanda Bouman,Muhammad Fadhil Ginting,Nikhilesh Alatur,Matteo Palieri,David D. Fan,Thomas Touma,Torkom Pailevanian,Sung-Kyun Kim,Kyohei Otsu,Joel W. Burdick,Ali-akbar Agha-mohammadi +10 more
TL;DR: This paper discusses the behaviors and capabilities which emerge from the integration of the autonomy architecture NeBula (Networked Belief-aware Perceptual Autonomy) with next-generation mobility systems and demonstrates the performance of the proposed solutions on physical systems in real-world scenarios.
Proceedings ArticleDOI
Design of a compact 5-DOF surgical robot of a spherical mechanism: CURES
TL;DR: In this paper, a design methodology for a compact surgical robot is presented, considering workspace and force requirements, a simulation and experiments are conducted to determine the design parameters, and the compact robot CURES of 5DOF spherical mechanism is developed from the analysis and its properties are presented.
Journal ArticleDOI
SLAP: Simultaneous Localization and Planning Under Uncertainty via Dynamic Replanning in Belief Space
TL;DR: A key focus of this paper is to implement the proposed planner on a physical robot and show the SLAP solution performance under uncertainty, in changing environments and in the presence of large disturbances, such as a kidnapped robot situation.
Proceedings ArticleDOI
A walking motion imitation framework of a humanoid robot by human walking recognition from IMU motion data
TL;DR: This paper proposes a framework of walking imitation between human and a humanoid robot using inertial measurement unit (IMU), and human's walking motions are recognized, and used as humanoid robot control inputs for on-line walking imitation.
Proceedings ArticleDOI
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion
Amanda Bouman,Muhammad Fadhil Ginting,Nikhilesh Alatur,Matteo Palieri,David D. Fan,Thomas Touma,Torkom Pailevanian,Sung-Kyun Kim,Kyohei Otsu,Joel W. Burdick,Ali-akbar Agha-mohammadi +10 more
TL;DR: In this paper, the Boston Dynamics Spot robot won 1st-place in the 2020 DARPA Subterranean Challenge, Urban Circuit, and demonstrated the performance of the proposed solutions on physical systems in realworld scenarios.