Papers
18
Total Citations
338
H-Index
9
About
Jaesung Oh is a leading figure in humanoid and legged robotics, renowned for his work on robust locomotion and whole-body control in high-stakes environments. His most celebrated contribution came as a key member of Team KAIST, where his work on the DRC-HUBO+ robot system and control strategy was instrumental in securing victory at the 2015 DARPA Robotics Challenge Finals—a paper that has garnered 127 citations. Oh’s core research focuses on bipedal walking stabilization and push recovery, where he pioneered an online optimization framework that integrates ankle, hip, and stepping strategies to maintain balance under disturbance, a contribution cited 68 times. He also advanced foot placement control using capture point feedback, enabling more resilient locomotion. Beyond walking, Oh has developed real-time whole-body remote control frameworks that allow humanoids to faithfully imitate human motion, even under communication delays. His work extends to quadrupedal robots, where he introduced position/torque hybrid control for rigid, high-gear ratio platforms, and to sensor fusion systems for environmental recognition in disaster scenarios. With over 290 citations across his top papers, Oh’s research continues to shape the future of robots that can walk, work, and survive in the real world.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3
- 4
- 5Position/torque hybrid control of a rigid, high-gear ratio quadruped robot13 citations · 2018
- 6
- 7
- 8
- 9
- 10