Dong-Won Ha

Papers

Total Citations

H-Index

About

Dong-Won Ha is a robotics researcher whose work bridges the critical gap between dexterous manipulation and autonomous locomotion in humanoid systems. His research focuses on two key areas: intelligent control of multifingered robot hands and obstacle avoidance for walking humanoids. In his 2007 study on a 16-degree-of-freedom three-fingered hand, Ha developed a robust control system enabling dynamic manipulation, achieving a remarkably lightweight design of just 0.7 kg while maintaining flexible motion. This work laid groundwork for building experimental databases essential for advanced grasping tasks. Simultaneously, Ha addressed the formidable challenge of safe navigation in unstructured environments, proposing path planning and obstacle avoidance architectures for humanoid robots operating in factories and homes. His contributions are foundational in enabling robots to interact physically with their surroundings while moving autonomously. Though his most-cited papers each hold 5 citations, their impact lies in addressing core problems—lightweight dexterity and real-world navigation—that continue to shape modern robotics research. Ha’s work represents a dual commitment to both the hand’s precision and the robot’s mobility, essential for next-generation humanoid assistants.