Kunwook Lee

Papers

Total Citations

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About

Kunwook Lee is a robotics researcher whose work centers on dexterous manipulation and motion planning for complex robotic systems. His major contributions span two key areas: the design and control of dexterous robotic hands, and path planning for hyper-redundant robots operating in constrained environments. In his foundational work on dexterous manipulation, Lee developed a miniature six-degree-of-freedom force/torque sensor with a CAN interface for robot fingertips, enabling precise tactile feedback essential for delicate grasping tasks. He also established a comprehensive design framework for motor-driven dexterous hands, using human hand analysis, DH modeling, and Kapandji testing to optimize workspace and manipulability. On the motion planning side, Lee proposed an efficient RRT* algorithm for a 12-DOF hyper-redundant inpipe robot, solving complex path planning in two-dimensional pipelines. His most cited paper (10 citations) addresses this challenging kinematic problem, while his sensor work (8 citations) has advanced practical dexterous manipulation. Lee’s research bridges theoretical modeling with real-world robotic applications, making significant contributions to both surgical and industrial robotics.