Hwi-Myung Ha

Papers

Total Citations

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About

Hwi-Myung Ha is a robotics researcher whose work centers on the control and stabilization of novel mobile platforms, particularly ball robots. His major contributions lie in the development of advanced control strategies for these inherently unstable systems. Ha’s most influential work, "Balancing and driving control of a ball robot using fuzzy control" (2015, 15 citations), pioneered the application of fuzzy logic to achieve stable balance and precise driving for a two-axis, four-motor Mecanum wheel ball robot. By modeling the robot’s dynamics using the Lagrange equation and integrating an inverted pendulum control method, he demonstrated a robust, non-model-based approach to maintaining equilibrium during motion. This work is complemented by his study on "Balancing and Driving Control of a Mecanum Wheel Ball Robot" (2015, 3 citations), which further explores the inverted pendulum framework for omnidirectional driving. Ha’s research is notable for its practical focus on enabling agile, omnidirectional locomotion in compact robotic systems—a key challenge in mobile robotics. His contributions have laid foundational groundwork for future developments in ball robot control, inspiring subsequent research in non-linear and fuzzy control applications for unstable platforms.