Phase space planning and robust control for data-driven locomotion behaviors. - Ye Zhao 002; Donghyun Kim 002; Benito R. Fernández; Luis Sentis (Humanoids, 2013)

Continuous cyclic stepping on 3D point-foot biped robots via constant time to velocity reversal. - Donghyun Kim 002; Gray C. Thomas; Luis Sentis (ICARCV, 2014)

A method for dynamically balancing a point foot robot. - Donghyun Kim 002; Gray C. Thomas; Luis Sentis (Humanoids, 2015)

Hybrid multi-contact dynamics for wedge jumping locomotion behaviors. - Ye Zhao 002; Donghyun Kim 002; Gray C. Thomas; Luis Sentis (HSCC, 2015)

Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking. - Donghyun Kim 002; Ye Zhao 002; Gray C. Thomas; Luis Sentis (CoRR, 2015)

Dynamic behaviors on the NAO robot with closed-loop whole body operational space control. - Donghyun Kim 002; Steven Jens Jorgensen; Peter Stone 001; Luis Sentis (Humanoids, 2016)

Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control. - Donghyun Kim 002; Ye Zhao 002; Gray C. Thomas; Benito R. Fernández; Luis Sentis (IEEE Trans. Robotics, 2016)

Investigations of viscoelastic liquid cooled actuators applied for dynamic motion control of legged systems. - Donghyun Kim 002; Orion Campbell; Junhyeok Ahn; Luis Sentis; Nicholas Paine (Humanoids, 2017)

Locomotion control of three dimensional passive-foot biped robot based on whole body operational space framework. - Jianwen Luo 002; Ye Zhao 002; Donghyun Kim 002; Oussama Khatib; Luis Sentis (ROBIO, 2017)

Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical Systems. - Steven Jens Jorgensen; Orion Campbell; Travis Llado; Donghyun Kim 002; Junhyeok Ahn; Luis Sentis (CoRR, 2017)

Robust Dynamic Locomotion via Reinforcement Learning and Novel Whole Body Controller. - Donghyun Kim 002; Jaemin Lee; Luis Sentis (CoRR, 2017)

Investigations of a Robotic Testbed with Viscoelastic Liquid Cooled Actuators. - Donghyun Kim 002; Junhyeok Ahn; Orion Campbell; Nicholas Paine; Luis Sentis (CoRR, 2017)

Control Scheme and Uncertainty Considerations for Dynamic Balancing of Passive-Ankled Bipeds and Full Humanoids. - Donghyun Kim 002; Steven Jens Jorgensen; Hochul Hwang; Luis Sentis (Humanoids, 2018)

Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles. - Junhyeok Ahn; Orion Campbell; Donghyun Kim 002; Luis Sentis (IROS, 2018)

Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints. - Donghyun Kim 002; Jaemin Lee; Junhyeok Ahn; Orion Campbell; Hochul Hwang; Luis Sentis (IROS, 2018)

Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints. - Donghyun Kim 002; Jaemin Lee; Orion Campbell; Hochul Hwang; Luis Sentis (CoRR, 2018)

Control of a High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators. - Junhyeok Ahn; Donghyun Kim 002; SeungHyeon Bang; Nick Paine; Luis Sentis (Humanoids, 2019)

Bi-Modal Hemispherical Sensor: A Unifying Solution for Three Axis Force and Contact Angle Measurement. - Meng Yee Michael Chuah; Lindsay Epstein; Donghyun Kim 002; Juan Romero; Sangbae Kim (IROS, 2019)

Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control. - Donghyun Kim 002; Jared Di Carlo; Benjamin Katz; Gerardo Bledt; Sangbae Kim (CoRR, 2019)

Robust Bipedal Locomotion Based on a Hierarchical Control Structure. - Jianwen Luo 002; Yao Su 001; Lecheng Ruan; Ye Zhao 002; Donghyun Kim 002; Luis Sentis; Chenglong Fu 001 (Robotica, 2019)

Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot. - Donghyun Kim 002; D. Carballo; Jared Di Carlo; Benjamin Katz; Gerardo Bledt; Bryan Lim; Sangbae Kim (ICRA, 2020)

Robust Autonomous Navigation of a Small-Scale Quadruped Robot in Real-World Environments. - Thomas Dudzik; Matthew Chignoli; Gerardo Bledt; Bryan Lim; Adam Miller; Donghyun Kim 002; Sangbae Kim (IROS, 2020)

Bi-Modal Hemispherical Sensors for Dynamic Locomotion and Manipulation. - Lindsay Epstein; Andrew SaLoutos; Donghyun Kim 002; Sangbae Kim (IROS, 2020)

Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control. - Donghyun Kim 002; Steven Jens Jorgensen; Jaemin Lee; Junhyeok Ahn; Jianwen Luo 002; Luis Sentis (Int. J. Robotics Res., 2020)

Robust Bipedal Locomotion Based on a Hierarchical Control Structure - CORRIGENDUM. - Jianwen Luo 002; Yao Su 001; Lecheng Ruan; Ye Zhao 002; Donghyun Kim 002; Luis Sentis; Chenglong Fu 001 (Robotica, 2020)

Learning to Jump from Pixels. - Gabriel B. Margolis; Tao Chen 046; Kartik Paigwar; Xiang Fu 005; Donghyun Kim 002; Sangbae Kim; Pulkit Agrawal 001 (CoRL, 2021)

The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors. - Matthew Chignoli; Donghyun Kim 002; Elijah Stanger-Jones; Sangbae Kim (HUMANOIDS, 2021)

Knowledge Transfer across Imaging Modalities Via Simultaneous Learning of Adaptive Autoencoders for High-Fidelity Mobile Robot Vision. - Md Mahmudur Rahman 005; Tauhidur Rahman; Donghyun Kim 002; Mohammad Arif Ul Alam (IROS, 2021)

Real-time Optimal Landing Control of the MIT Mini Cheetah. - Se Hwan Jeon; Sangbae Kim; Donghyun Kim 002 (CoRR, 2021)

Online Gain Adaptation of Whole-Body Control for Legged Robots with Unknown Disturbances. - Jaemin Lee; Junhyeok Ahn; Donghyun Kim 002; SeungHyeon Bang; Luis Sentis (Frontiers Robotics AI, 2021)

Online Optimal Landing Control of the MIT Mini Cheetah. - Se Hwan Jeon; Sangbae Kim; Donghyun Kim 002 (ICRA, 2022)

Integration of Riemannian Motion Policy and Whole-Body Control for Dynamic Legged Locomotion. - Daniel Marew; Misha Lvovsky; Shangqun Yu; Shotaro Sessions; Donghyun Kim 002 (CoRR, 2022)

Quadruped robots venture into the wild with open eyes. - Donghyun Kim 002 (Sci. Robotics, 2022)

Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion. - Daniel Marew; Misha Lvovsky; Shangqun Yu; Shotaro Sessions; Donghyun Kim 002 (Humanoids, 2023)

System Configuration and Navigation of a Guide Dog Robot: Toward Animal Guide Dog-Level Guiding Work. - Hochul Hwang; Tim Xia; Ibrahima Keita; Ken Suzuki; Joydeep Biswas; Sunghoon Ivan Lee; Donghyun Kim 002 (ICRA, 2023)

Event Camera-Based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface. - Shifan Zhu; Zhipeng Tang; Michael Yang; Erik G. Learned-Miller; Donghyun Kim 002 (IROS, 2023)

On a Foundation Model for Operating Systems. - Divyanshu Saxena; Nihal Sharma; Donghyun Kim 002; Rohit Dwivedula; Jiayi Chen; Chenxi Yang; Sriram Ravula; Zichao Hu; Aditya Akella; Sebastian Angel; Joydeep Biswas; Swarat Chaudhuri; et al. (CoRR, 2023)

Neuromorphic high-frequency 3D dancing pose estimation in dynamic environment. - Zhongyang Zhang; Kaidong Chai; Haowen Yu; Ramzi Majaj; Francesca Walsh; Edward Jay Wang; Upal Mahbub; Hava T. Siegelmann; Donghyun Kim 002; Tauhidur Rahman (Neurocomputing, 2023)

Towards Robotic Companions: Understanding Handler-Guide Dog Interactions for Informed Guide Dog Robot Design. - Hochul Hwang; Hee-Tae Jung; Nicholas A. Giudice; Joydeep Biswas; Sunghoon Ivan Lee; Donghyun Kim 002 (CHI, 2024)

A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots. - Daniel Marew; Nisal Perera; Shangqun Yu; Sarah Roelker; Donghyun Kim 002 (Humanoids, 2024)

Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains. - Shangqun Yu; Nisal Perera; Daniel Marew; Donghyun Kim 002 (Humanoids, 2024)

StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe. - Nisal Perera; Shangqun Yu; Daniel Marew; Mack Tang; Ken Suzuki; Aidan McCormack; Shifan Zhu; Yong-Jae Kim; Donghyun Kim 002 (IROS, 2024)

Impedance Matching: Enabling an RL-Based Running Jump in a Quadruped Robot. - Neil Guan; Shangqun Yu; Shifan Zhu; Donghyun Kim 002 (UR, 2024)

Is It Safe to Cross? Interpretable Risk Assessment with GPT-4V for Safety-Aware Street Crossing. - Hochul Hwang; Sunjae Kwon; Yekyung Kim; Donghyun Kim 002 (UR, 2024)

Lessons Learned from Developing a Human-Centered Guide Dog Robot for Mobility Assistance. - Hochul Hwang; Ken Suzuki; Nicholas A. Giudice; Joydeep Biswas; Sunghoon Ivan Lee; Donghyun Kim 002 (CoRR, 2024)

CEAR: Comprehensive Event Camera Dataset for Rapid Perception of Agile Quadruped Robots. - Shifan Zhu; Zixun Xiong; Donghyun Kim 002 (IEEE Robotics Autom. Lett., 2024)

StitchLLM: Serving LLMs, One Block at a Time. - Bodun Hu; Shuozhe Li; Saurabh Agarwal; Myungjin Lee; Akshay Jajoo; Jiamin Li 002; Le Xu; Geon-Woo Kim; Donghyun Kim 002; Hong Xu 001; Amy Zhang 001; Aditya Akella (ACL (1), 2025)

E-BARF: Bundle Adjusting Neural Radiance Fields from a Moving Event Camera. - Zhipeng Tang; Shifan Zhu; Zezhou Cheng; Donghyun Kim 002; Erik G. Learned-Miller (CVPR Workshops, 2025)

OMEGA: A Low-Latency GNN Serving System for Large Graphs. - Geon-Woo Kim; Donghyun Kim 002; Jeongyoon Moon; Henry Liu; Tarannum Khan; Anand Iyer; Daehyeok Kim; Aditya Akella (CoRR, 2025)

Large Language Models as Realistic Microservice Trace Generators. - Donghyun Kim 002; Sriram Ravula; Taemin Ha; Alexandros G. Dimakis; Daehyeok Kim; Aditya Akella (CoRR, 2025)

Human-Centered Development of Guide Dog Robots: Quiet and Stable Locomotion Control. - Shangqun Yu; Hochul Hwang; Trung M. Dang; Joydeep Biswas; Nicholas A. Giudice; Sunghoon Ivan Lee; Donghyun Kim 002 (CoRR, 2025)