Inyong Ha

About

Inyong Ha is a leading roboticist whose work centers on humanoid robotics, open-platform design, and disaster-response automation. He is best known for his pivotal role in developing DARwIn-OP, an open-platform humanoid robot that has become a standard research tool, cited over 42 times for its modular, network-based architecture that democratized access to advanced robotics. Ha’s contributions to gait pattern generation and stabilization, using coupled oscillators, have garnered over 56 combined citations, offering computationally efficient solutions for small-scale humanoids with limited resources. As a core member of Team THOR in the DARPA Robotics Challenge Trials 2013, he helped engineer a modular, low-cost humanoid platform capable of navigating unstructured environments, a feat detailed in papers with 46 and 7 citations. His work on THOR-OP further advanced standardized actuator and structural designs for disaster response. Ha’s research bridges hardware accessibility and real-world mobility, making him a key figure in pushing humanoid robots from labs into practical, life-saving applications.

Research Focus

Key Achievements

Top Papers

1. 1
   Team THOR's Entry in the DARPA Robotics Challenge Trials 2013

   46 citations · 2015
2. 2
   Development of open platform humanoid robot DARwIn-OP

   42 citations · 2013
3. 3
   Gait pattern generation and stabilization for humanoid robot based on coupled oscillators

   31 citations · 2011
4. 4
   Gait pattern generation and stabilization for humanoid robot based on coupled oscillators

   25 citations · 2011
5. 5
   Modular low-cost humanoid platform for disaster response

   7 citations · 2014
6. 6
   THOR-OP humanoid robot for DARPA Robotics Challenge Trials 2013

   4 citations · 2014

Key Collaborators

Contact & Links