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

• Machine learning

• Learning-based Control

• Numerical Optimization

Skills

Programming

• C/C++ | Python | Matlab

Robotics

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

Design

• Fusion360

Publications

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: Real-time Multi-Contact Estimation Algorithm and its Application to Multi-Contact feedback Model Predictive Control for Interactive Robotic Tasks

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

Conference Presentations

• 2025 | S. W. Han, and M. J. Kim, “Learning Multi-Contact Localization via Diffusion Models with Proprioceptive Sensing,” 2025 Robotics: Science and System (RSS) Workshop on Navigating Contact Dynamics in Robotics, Los Angeles, USA [link]
• 2025 | S. W. Han, and M. J. Kim, “CDM: Contact Diffusion Model for Multi-Contact Point Localization”, 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, USA **[proj] [arXiv] [IEEE]**
• 2024 | S. W. Han, and M. J. Kim, “Contact Estimation Diffusion Model for Collaborative Robots”, 2024 IEEE International Conference on Control, Automation, and Systems (ICCAS) , Jeju, Korea
• 2024 | S. W. Han, M. Iskandar, J. Lee and M. J. Kim, “Online Multi-Contact Feedback Model Predictive Control for Interactive Robotic Tasks”, 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan **[proj] [IEEE] [arXiv]**
• 2024 | S. W. Han, M. Iskandar, J. Lee and M. J. Kim “Optimization-based Multi-Contact Force Control” (in Korean), The 19th Korea Robotics Society Annual Conference (KRoC), Pyeongchang, Korea
• 2023 | S. W. Han, and M. J. Kim, “Proprioceptive Sensor-Based Simultaneous Multi-Contact Point Localization and Force Identification for Robotic Arms”, 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom **[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” (in Korean), The 18th Korea Robotics Society Annual Conference (KRoC), Pyeongchang, Korea

Honors and Awards

• 2024 | ICROS Daejeon-Chungcheong Branch Academic Conference Outstanding Paper Award
• 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:

• 2025 | International Conference on Humanoid Robots (Humanoids)
• 2024 | International Conference on Robotics and Automation (ICRA)
• 2024 | International Conference on Control, Automation, and Systems (ICCAS)

Teaching:

• 2024 | Electronics Design Lab <Robotic Manipulator> (Undergrad.), Teaching Assistant