Jihong Lee

About

Jihong Lee is a prominent robotics researcher whose work spans robot kinematics, motion planning, and the design of novel mobile and underwater robotic systems. His most influential contributions lie in the analysis of robot manipulability — the study of how dexterously a robotic arm can move within its workspace. His 2002 paper comparing manipulability ellipsoids and polytopes (59 citations) has become a key reference in the field, critically evaluating tools that guide robot design and control. Lee has also made significant contributions to multi-robot coordination, developing collision-free trajectory control using neural optimization networks (40 citations) and near minimum-time trajectory planning via dynamic programming (28 citations). His algorithmic work on minimum l∞-norm solutions further demonstrates his strength in applied mathematics for robotics. Beyond manipulation, Lee has led hardware innovation through the CALEB series of robots, including transformable caterpillar platforms, a biomimetic legged underwater robot, and a pendulum-driven spherical mobile robot. His more recent work addresses adaptive traction control for wheeled robots on rough terrain (33 citations). Collectively, his research reflects a career dedicated to bridging theoretical rigor with practical robotic implementation across challenging real-world environments.

Research Focus

Key Achievements

Top Papers

1. 1
   A study on the manipulability measures for robot manipulators

   59 citations · 2002
2. 2
   Collision-free trajectory control for multiple robots based on neural optimization network

   40 citations · 1990
3. 3
   A structured algorithm for minimum <i>l</i>_∞-norm solutions and its application to a robot velocity workspace analysis

   35 citations · 2001
4. 4
   Traction-energy balancing adaptive control with slip optimization for wheeled robots on rough terrain

   33 citations · 2018
5. 5
   Manipulability analysis of underwater robotic arms on ROV and application to task-oriented joint configuration

   28 citations · 2005
6. 6
   A dynamic programming approach to near minimum-time trajectory planning for two robots

   28 citations · 1995
7. 7
   Design, swimming motion planning and implementation of a legged underwater robot (CALEB10: D.BeeBot) by biomimetic approach

   27 citations · 2016
8. 8
   A development of a transformable caterpillar equipped mobile robot

   20 citations · 2007
9. 9
   Velocity workspace analysis for multiple arm robot systems

   19 citations · 2001
10. 10
    A rolling robot: Design and implementation

    18 citations · 2009

Key Collaborators

Contact & Links