Heekuk Lee

Papers

Total Citations

H-Index

About

Heekuk Lee has made pioneering contributions to the field of bipedal robotics, focusing on the mechanical design and control of humanoid locomotion. His key research areas include torque-controlled biped walking, balancing control, and the optimization of dynamic gait primitives. Lee’s most notable achievement is the development of "Roboray," a novel biped robot featuring cable-driven, back-drivable joints with integrated torque sensors, enabling highly responsive and compliant locomotion. His foundational paper, "Development of the lower limbs for a humanoid robot" (2012, 32 citations), details the design of this 13-degree-of-freedom lower-limb system as an experimental platform for studying force-based walking. In "Balancing control of a biped robot" (2012, 16 citations), he proposed a robust balancing framework leveraging the robot’s elastic joint properties. His work on "Optimal gait primitives for dynamic bipedal locomotion" (2012, 10 citations) introduced a numerical optimization method to generate self-stable walking patterns using state-dependent torque control. Collectively, Lee’s research bridges hardware innovation and control theory, advancing the practical realization of agile, human-like bipedal robots.