Faculty Research Profile
Junhyoung Ha
학력
· 2015: PhD in Mechanical Engineering, Seoul National University, Seoul, Korea
· 2008: Bachelor's degree in Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea
주요 경력
· Jun 2025~Present: Assistant Professor, UNIST, Ulsan, Korea
· Dec 2019~May 2025: Senior Researcher, KIST, Seoul, Korea
· Feb 2024~Aug 2024: Visiting Researcher, Georgia Tech., US
· May 2019~Oct 2019: Deep Learning Researcher, Saige Research, Seoul, Korea
· Sep 2015~Aug 2018: Postdoctoral Research Fellow, Boston Children's Hospital / Harvard Medical School, Boston, US
수상/학회/외부활동
· "A snake-like mobile robot that mimics snake locomotion to explore complex terrains", Excellence Award, 19th Korea Robotics Society Annual Conference (KRoC 2024) – RED Show, Awarded by the President of Korea Institute for Robot Industry Advancement (No. 2024-014), February 24, 2024
지능로보틱스연구실
Intelligent Robotics Lab
본 연구실은 다양한 로봇 시스템의 지능 제어 연구를 수행합니다.
주요 연구 주제:
- 비전 및 강화학습 기반 로봇 매니퓰리이션 제어 연구
- 보행 로봇, 뱀형 로봇의 모델 기반 제어 및 강화학습 기반 로코모션
- 연속체 로봇 모델링, 동작 계획 및 제어 (의료로봇, 탐색로봇 등)
- 의료 로봇 및 의료 영상 연구
Our lab conducts research on the intelligent control of various robotic systems.
Main Research Topics:
- Vision and reinforcement learning-based control for robot manipulation
- Model-based control and reinforcement learning-based locomotion for walking and snake-like robots
- Modeling, motion planning, and control of continuum robots (e.g., medical robots, exploration robots)
- Medical robotics and medical imaging
Our lab conducts research on the intelligent control of various robotic systems.
Main Research Topics:
- Vision and reinforcement learning-based control for robot manipulation
- Model-based control and reinforcement learning-based locomotion for walking and snake-like robots
- Modeling, motion planning, and control of continuum robots (e.g., medical robots, exploration robots)
- Medical robotics and medical imaging
연구분야
로봇, 로코모션, 매니퓰레이션, 지능제어, 소프트로봇 / Robotics, locomotion, manipulation, intelligent control, soft robot
Robotics, locomotion, manipulation, intelligent control, soft robot
연구주제
· 로봇공학: 로봇-비전, 로봇 동역학, 비선형 제어, 동적 계획
· 거동제어: 뱀형 로봇, 보행 로봇 거동 제어 연구
· 의료로봇: 연속체 로봇 모델링 및 제어, 의료영상 기반 로봇 제어
· Robotics: Robot Vision, Robot Dynamics, Nonlinear Control, Motion Planning
· Locomotion Control: Research on locomotion control for snake-like robots and walking robots
· Medical Robotics: Continuum robot modeling and control, medical imaging-based robot control
Robotics: Robot Vision, Robot Dynamics, Nonlinear Control, Motion Planning
Locomotion Control: Research on locomotion control for snake-like robots and walking robots
Medical Robotics: Continuum robot modeling and control, medical imaging-based robot control
국가연구개발사업 기술 분류체계
국가과학기술표준분류
EA. 기계 > EA05. 로봇·자동화기계 > EA0502. 로봇 제어/지능화기술
논문
· Ha, Junhyoung. "Robotic snake locomotion exploiting body compliance and uniform body tensions." IEEE Transactions on Robotics 39.5 (2024)
· Ha, Junhyoung. "Probabilistic Framework for Hand–Eye and Robot–World Calibration AX= YB." IEEE transactions on robotics 39.2 (2023)
· Ha, Junhyoung, Georgios Fagogenis, and Pierre E. Dupont. "Modeling tube clearance and bounding the effect of friction in concentric tube robot kinematics." IEEE Transactions on Robotics (2019)
특허
· Robot teaching system, KIM Soonkyum, Woosub Lee, YUN Alchan, Junhyoung Ha, Deaho Moon, US Patent 11,654,555,
2023/5/23
· Pose estimation method of bendable interventional medical device using single-view x-ray image, Deuk Hee Lee, Sung Hwan Lim, Jun Hyoung Ha, US Patent 11,600,014, 2023/3/7