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Jeeseop Kim

14 accepted papers

2026

A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots With Non-Negligible Manipulator Dynamics

Ruturaj Sambhus, Kapi Ketan Mehta, Ali MirMohammad Sadeghi, Basit Muhammad Imran, Jeeseop Kim, Taizoon Chunawala +3
RA-L 2026

Model predictive control (MPC) with reduced-order template models has proven effective for dynamic legged locomotion, but loco-manipulation introduces additional complexity requiring efficient algorithms for high-degree-of-freedom (DoF) systems. This letter presents a computationally efficient nonli

Cited by 3Source ↗Scholar ↗
2026

Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots

Basit Muhammad Imran, Jeeseop Kim, Taizoon Aliasgar Chunawala, Alexander Leonessa, Kaveh Akbari Hamed
ICRA 2026poster

This paper presents a novel hierarchical, safety-critical control framework that integrates distributed nonlinear model predictive controllers (DNMPCs) with control barrier functions (CBFs) to enable cooperative locomotion of multi-agent quadrupedal robots in complex environments. While NMPC-based m…

Cited by 0Source ↗PDF ↗Scholar ↗
2025

Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis

Kejun Li, Jeeseop Kim, Maxime Brunet, Marine Pétriaux, Yisong Yue, Aaron D. Ames
IROS 2025

Robust bipedal locomotion in exoskeletons requires the ability to dynamically react to changes in the environment in real time. This paper introduces the hybrid data-driven predictive control (HDDPC) framework, an extension of the data-enabled predictive control, that addresses these challenges by s

Cited by 0Source ↗Scholar ↗
2025

Safety-Critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles During Navigation Toward Destination

Jaemin Lee, Min Dai, Jeeseop Kim, Aaron D. Ames
ICRA 2025

This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots confront unavoidable obstacles en route to their designated destin

Cited by 0Source ↗Scholar ↗
2025

Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots

Basit Muhammad Imran, Jeeseop Kim, Taizoon Chunawala, Alexander Leonessa, Kaveh Akbari Hamed
RA-L 2025

This paper presents a novel hierarchical, safety-critical control framework that integrates distributed nonlinear model predictive controllers (DNMPCs) with control barrier functions (CBFs) to enable cooperative locomotion of multi-agent quadrupedal robots in complex environments. While NMPC-based m

Cited by 4Source ↗Scholar ↗
2024

Data-Driven Predictive Control for Robust Exoskeleton Locomotion

Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames
IROS 2024poster

Exoskeleton locomotion must be robust while being adaptive to different users with and without payloads. To address these challenges, this work introduces a data-driven predictive control (DDPC) framework to synthesize walking gaits for lower-body exoskeletons, employing Hankel matrices and a state…

Cited by 3Source ↗Scholar ↗
2024

Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP

Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames
IROS 2024poster

Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this challenging problem, this paper develops a control framework for r…

Cited by 2Source ↗Scholar ↗
2024

Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions

Jeeseop Kim, Jaemin Lee, Aaron D. Ames
ICRA 2024poster

This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward reachable set to guarantee the safe coordination of the robots while preserving a desired trajectory via a layered controll…

Cited by 3Source ↗Scholar ↗
2024

Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms

Jaemin Lee, Jeeseop Kim, Aaron D. Ames
IROS 2024poster

This paper proposes a comprehensive framework designed for the autonomous inspection of complex environments, with a specific focus on multi-tiered settings such as distillation column trays. Leveraging quadruped robots equipped with roller arms, and through the use of onboard perception, we integra…

Cited by 1Source ↗Scholar ↗
2024

Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments

Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker, Tamas G. Molnar, Aaron D. Ames
ICRA 2024poster

This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous robotic inspection in complex, multi-tiered environments. In this study, we consider the problem of operating a quadruped…

Cited by 2Source ↗Scholar ↗
2023

Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion

Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed
ICRA 2023poster

The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems theory to model the sophisticated and high-dimensional struct…

Cited by 23Source ↗Scholar ↗
2023

Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots

Jaemin Lee, Jeeseop Kim, Aaron D. Ames
IROS 2023poster

The safety-critical control of robotic systems often must account for multiple, potentially conflicting, safety constraints. This paper proposes novel relaxation techniques to address safety-critical control problems in the presence of conflicting safety conditions. In particular, Control Barrier Fu…

Cited by 13Source ↗Scholar ↗
2023

Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions

Jeeseop Kim, Jaemin Lee, Aaron D. Ames
IROS 2023poster

This paper presents a safety-critical approach to the coordinated control of cooperative robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverage control barrier functions (CBFs) to ensure the safe cooperation of the robots while maintaining a desired formation an…

Cited by 12Source ↗Scholar ↗
2020

Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints

Kaveh Akbari Hamed, Jeeseop Kim, Abhishek Pandala
RA-L 2020

This letter aims to develop a hierarchical nonlinear control algorithm, based on model predictive control (MPC), quadratic programming (QP), and virtual constraints, to generate and stabilize locomotion patterns in a real-time manner for dynamical models of quadrupedal robots. The higher level of th

Cited by 42Source ↗Scholar ↗