Kwan‐Woong Gwak

About

Kwan-Woong Gwak is a leading researcher in robotics, specializing in cable-driven parallel robots (CDPRs) and their application to construction automation. His most impactful work focuses on designing novel CDPRs for 3D printing building construction, where he has pioneered methods for path optimization, vibration analysis, and force-boundary determination—critical for ensuring structural stability and print quality. His 2022 paper on a novel CDPR design for 3D printing has garnered 17 citations, while his 2020 work on modified analytical and finite element methods for vibration analysis has earned 14 citations. Gwak has also made notable contributions to adaptive control, including fuzzy impedance control for two-layered vertical CDPRs (10 citations) and passivity-based nonlinear control for ballbots. Beyond CDPRs, his research extends to human-robot safety, developing anthropomorphic test devices that reproduce human rider behavior for evaluating dynamic stability in two-wheeled personal mobility and unicycle robots. His work on neck injury in mobile robot-human collisions (4 citations) addresses a growing societal concern. With over 80 total citations across his top ten papers, Gwak’s interdisciplinary approach—merging mechanical design, control theory, and safety engineering—positions him as a key innovator in construction robotics and human-robot interaction.

Research Focus

Key Achievements

Top Papers

1. 1
   Design of a novel cable-driven parallel robot for 3D printing building construction

   17 citations · 2022
2. 2
   A novel modified analytical method and finite element method for vibration analysis of cable-driven parallel robots

   14 citations · 2020
3. 3
   Fuzzy adaptive impedance control for the two-layered vertical cable-driven parallel robot

   10 citations · 2024
4. 4
   Adaptive online cell decomposition with a laser range finder in unknown non-rectilinear environments

   9 citations · 2017
5. 5
   A two-nozzle cable-driven parallel robot for 3D printing building construction: path optimization and vibration analysis

   9 citations · 2022
6. 6
   Passivity-based Nonlinear Control for a Ballbot to Balance and Transfer

   8 citations · 2019
7. 7
   CMG-based anthropomorphic test device for human rider behavior reproduction for two-wheeled self-balancing personal mobility

   8 citations · 2020
8. 8
   A Novel Determination of Boundaries of Cable Forces for Cable-Driven Parallel Robots with Frequency Constraint by Using Differential Evolution Algorithm

   6 citations · 2019
9. 9
   Two-DOF Anthropomorphic Test Devices Reproducing Human Rider Motion Intent for the Evaluation of Dynamic Stability and Safety of Unicycle Robots

   4 citations · 2019
10. 10
    Preliminary experimental results for neck injury in mobile robot-human constrained-collision

    4 citations · 2016

Key Collaborators

Contact & Links