Ohung Kwon

About

Ohung Kwon is a prominent robotics researcher whose career has centered on the locomotion, control, and optimization of legged robotic systems, with particular expertise in both biped and quadruped robots. His foundational contributions include pioneering work on reflex-based control strategies that enable biped robots to navigate slippery and unpredictable surfaces — his most-cited paper on this topic has accumulated 60 citations and addressed a critical safety challenge in real-world robot deployment. Kwon has made significant advances in gait optimization by drawing on human motion analysis, and he developed genetic algorithm-based approaches to generate energy-efficient trajectories for staircase navigation. His research on gait transitions between walking and running, alongside impedance control frameworks for dynamic locomotion, has helped define the field's understanding of stable, versatile biped movement. Extending his work to quadruped systems, Kwon tackled challenges in uneven terrain navigation and hydraulic energy efficiency, proposing elliptic trajectory generation for galloping robots. Collectively, his publications have amassed over 270 citations, reflecting sustained influence across legged robotics, motion planning, and biomechanically inspired control — making his body of work essential reading for researchers advancing autonomous mobile robotics.

Research Focus

Key Achievements

Top Papers

1. 1
   Reflex control of biped robot locomotion on a slippery surface

   60 citations · 2002
2. 2
   Gait optimization of biped robots based on human motion analysis

   41 citations · 2013
3. 3
   Foot Trajectory Generation of Hydraulic Quadruped Robots on Uneven Terrain

   30 citations · 2008
4. 4
   Optimal trajectory generation for a biped robot walking a staircase based on genetic algorithms

   30 citations · 2005
5. 5
   Gait transitions for walking and running of biped robots

   26 citations · 2004
6. 6
   Asymmetric trajectory generation and impedance control for running of biped robots

   23 citations · 2008
7. 7
   The energy minimization algorithm using foot rotation for hydraulic actuated quadruped walking robot with redundancy

   18 citations · 2010
8. 8
   Optimal trajectory generation for biped robots walking up-and-down stairs

   18 citations · 2006
9. 9
   Impedance control for running of biped robots

   17 citations · 2004
10. 10
    Elliptic Trajectory Generation for Galloping Quadruped Robots

    16 citations · 2006

Key Collaborators

Contact & Links