Yoonkwon Hwang
Toho University, Tohoku University, Changwon National University
Papers
6
Total Citations
104
H-Index
4
About
Yoonkwon Hwang is a leading figure in humanoid and quadruped robotics, with foundational contributions to whole-body cooperative control, dynamic simulation, and adaptive locomotion. His most influential work, “Whole body cooperative tasks and static stability evaluations for a humanoid robot” (42 citations), pioneered the use of momentum and weight shifting to enable humanoid robots to generate large forces for heavy tasks—a critical step toward robots that can work alongside humans in physical environments. Hwang also advanced computational robotics with his “Order n dynamic simulator for a humanoid robot” (32 citations), introducing an efficient, scalable formulation for solving inverse and forward dynamics with multiple environmental contacts, enabling high-speed, realistic simulation. His adaptive gait algorithm for quadruped robots walking on slopes (21 citations) demonstrated real-time terrain estimation and center-of-gravity control, expanding legged locomotion to uneven terrain. Across his career, Hwang has focused on torque optimization, self-learning control, and genetic algorithm-based motion planning, producing tools and frameworks that remain essential for researchers in humanoid stability, cooperative manipulation, and real-time dynamics. His work bridges theoretical mechanics and practical robot control, making him a key reference for students and engineers developing next-generation legged systems.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3An adaptive gait for quadruped robots to walk on a slope21 citations · 2004
- 4Development of a High Speed Dynamics Simulator for Humanoid Robots5 citations · 2005
- 5Self-Learning Control of Cooperative Motion for Humanoid Robots2 citations · 2006
- 6