Duck-Hyun Lee

Papers

Total Citations

H-Index

About

Duck-Hyun Lee is a robotics researcher specializing in motion planning and coordination for dual-arm robotic systems, with a focus on assembly and disassembly tasks. His work addresses the critical challenge of enabling robots to manipulate objects in constrained environments, particularly when multiple arms or multiple robots must work together without collision. Lee’s most cited paper, “A RRT-based motion planning of dual-arm robot for (Dis)assembly tasks” (2013, 14 citations), introduces a Rapidly-exploring Random Tree (RRT) approach that generates both assembly and re-grasping paths, allowing a dual-arm robot to securely hold and assemble parts by switching grasps when needed. This contribution is foundational for automating complex assembly lines. In his subsequent work, “Collision-free coordination of two dual-arm robots with assembly precedence constraint” (2014, 5 citations), Lee extends this framework to multi-robot systems, using a decoupled method that efficiently handles high-degree-of-freedom robots by assuming precomputed paths. His research is notable for its practical impact on manufacturing automation, offering scalable solutions for tasks requiring precise, collision-free coordination under sequencing constraints.