Ph.D candidate, Intelligent Robotic System Lab, KAIST

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<aside> 🇰🇷 Daejeon, Korea

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<aside> ✉️ [email protected]

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Research Interest

Robot Manipulation
Optimization-based Control
State Estimation
Learning-based Control
Numerical Optimization

Skills

Programming

C/C++ | Python | Matlab

Robotics

ROS/ROS2 | JAX/FLAX | Mujoco/Pinocchio | qpSWIFT

Design

Fusion360

Project

Education

Korea Advanced Institute of Science and Technology (KAIST, Daejeon, Korea)

Ph.D Candidate | Department of Electrical Engineering
Advisor: Prof. Min Jun Kim
Focus: Robot Control, Manipulation, Optimization-based Control, State Estimation

Mar. 2024 - Current

Korea Advanced Institute of Science and Technology (KAIST, Daejeon, Korea)

M.S | Department of Electrical Engineering
Advisor: Prof. Min Jun Kim
Thesis: Multi-Contact Aware Control for robotic arms: Multi-Contact Estimation Algorithm and Model Predictive Force Control

Mar. 2022 - Feb. 2024

Korea University (Seoul, Korea)

B.S | Department of Mechanical Engineering

Mar. 2016 - Feb. 2022

Research Experience

Intelligent Robotic System Lab, Prof. Min Jun Kim

Electrical Engineering, KAIST

Mar. 2022 - Current

German Aerospace Center (DLR)

Guest researcher at Robotics and Mechatronics Center (RMC)

Jun. 2023 - Sep. 2023

Research on multi-contact aware model predictive controller

Structural Integrity and Reliability Lab, Prof. Yunjae Kim

Mechanical Engineering, Korea university

Apr. 2020 - Dec. 2020

Development of advanced technology for structural condition and monitoring prediction

Publication

2024 | S.W.Han M. Iskandar, J. Lee and M.J.Kim, “Online Multi-Contact Feedback Model Predictive Control for Interactive Robotic Tasks”, ICRA 2024 [proj] [arxiv]
2024 | S.W.Han, M. Iskandar, J. Lee and M.J.Kim “Optimization-based Multi-Contact Force Control”, KRoC 2024
2023 | S.W.Han, and M.J.Kim, “Proprioceptive Sensor-Based Simultaneous Multi-Contact Point Localization and Force Identification for Robotic Arms”, ICRA 2023 [proj] **[IEEE] [arxiv]**
2023 | S.W.Han, and M.J.Kim “Multi-Contact Point Localization and Force Identification for Collaborative Robot Arm using Proprioceptive Sensor”, KRoC 2023

Honors and Awards

2021 | Semester high honors, 2nd Semester, Korea university
2021 | KU ALUMNI SCHOLARSHIPS (Academic Scholarship) 1st Semester, Korea university
2021 | STUDY SCHOLARSHIPS 1st Semester, Korea university
2020 | Semester high honors, 2nd Semester, Korea university
2020 | International Capstone Design Fair 2020 (Korea, China) (Best Achievement), Korea university
2020 | KU ALUMNI SCHOLARSHIPS (Academic Scholarship) 2nd Semester, Korea university
2020 | KU ALUMNI SCHOLARSHIPS (Academic Scholarship) 1st Semester, Korea university
2020 | Semester high honors, 1st Semester, Korea university
2020 | Capstone Design Fair 2020 (bronze prize), Korea university
2017 | Semester high honors, 1st Semester, Korea university

Extra-curricular Activities

Reviewer:

International Conference on Robotics and Automation (2024)

Teaching:

2024 | Control system engineering (Undergrad.), Teaching Assistant
2023 | Electronics Design Lab <Robotic Manipulator> (Undergrad.), Course Development TA

Military Service:

Auxiliary police, Honorable Discharge (2017 - 2019)