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Domestic journal/conference

Publications

International Journal

  1. Hyon, S., A motor control strategy with virtual musculoskeletal systems for compliant anthropomorphic robots, IEEE/ASME Transactions on Mechatronics, vol.14, issue 6, pp.677-688, 2009.update
  2. Hyon, S., Compliant terrain adaptation for biped humanoids without measuring ground surface and contact forces, IEEE Transactions on Robotics, vol.25, no.1, pp. 171-178, 2009.
  3. Hale, J. G., Hohl, B., Hyon, S., Matsubara, T., Moraud, E. and Cheng, G., Highly precise dynamic simulation environment for humanoid robots , Advanced Robotics, vol.22, no.10, pp.1075-1105, 2008.
  4. Matsubara, T., Morimoto, J., Nakanishi, J., Hyon, S., Hale, J. G. and Cheng, G., Learning to acquire whole-body humanoid CoM movements to achieve dynamic tasks, Advanced Robotics, vol.22, no.10, pp.1125-1142, 2008
  5. Hyon, S., Hale, J. G. and Cheng, G., Full-body compliant human-humanoid interaction: Balancing in the presence of unknown external forces, IEEE Transactions on Robotics, vol.23, no.5, pp.884-898, 2007.
  6. Cheng, G., Hyon, S., Morimoto, J., Ude, A., Hale, J. G., Colvin, G., Scroggin, W. and Jacobsen, S. C., CB: A humanoid research platform for exploring neuroscience, Advanced Robotics, vol.21, no.10, pp.1097-1114, 2007.
  7. Hyon, S., Yokoyama, N. and Emura, T., Back handspring of a multi-link gymnastic robot - reference model approach, Advanced Robotics, vol. 20, no. 1, pp.93-113, 2006.
  8. Hyon, S. and Emura, T., Energy-preserving control of passive one-legged running robot, Advanced Robotics, vol.18, no.4, pp. 357-381, 2004.
  9. Hyon, S., Emura, T. and Mita, T., Dynamics-based control of one-legged hopping robot, Journal of Systems and Control Engineering, Proceedings of the Institution of Mechanical Engineers Part I, vol.217, no.2, pp.83-98, 2003.
  10. Mita, T., Hyon, S. and Nam, T., Analytical time optimal control solution for a two link planar acrobot with initial angular momentum, IEEE Transactions on Robotics and Automation, vol.17, no.3, pp.361-366, 2001.

International Conference/Workshop

  1. Hyon, S., Morimoto, J. and Kawato, M., From compliant balancing to dynamic walking on humanoid robot: Integration of CNS and CPG, IEEE International Conference on Robotics and Automation, Anchorage, USA, 2010 (accepted).update
  2. Hyon, S., Active force control on humanoid robots (tentative title), IEEE International Conference on Robotics and Automation, Workshop, Anchorage, USA, 2010 (invited).update
  3. Hyon, S., Learning external forces for human-humanoid interaction, Workshop for Young Researchers on Human-Friendly Robotics, Genoa, Dec, 2009.update
  4. Hyon, S. and Fujimoto, K., Invariant manifold of symmetric orbits and its application toward globally optimal gait generation for biped locomotion, 9th International IFAC Symposium on Robot Control (SYROCO), Gifu, Japan, 2009, pp.619-626.
  5. Hyon, S., Iterative learning of dynamic full-body motions anchored by joint trajectories, IEEE International Conference on Robotics and Automation, Workshop (invited), Kobe, Japan, 2009.
  6. Hyon, S., Osu, R. and Otaka, Y., Integration of multi-level postural balancing on humanoid robots, IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009, pp.1549-1556. (The Best Conference Paper Award, Finalist)
  7. Hyon, S., Moren, J. and Cheng, G., Humanoid batting with bipedal balancing, in Proceedings of IEEE-RAS International Conference on Humanoid Robots, Daejon, Korea, pp.493-499, 2008.
  8. Ohtake, S., Yamakita, M. and Hyon, S., Control of underactuated biped running robot via synchronous oscillator, in Proceedings of SICE Annual Conference 2008 (SICE 2008), Tokyo, Japan, 2008, pp.3367-3371.
  9. Hyon, S., Morimoto, J. and Cheng, G., Hierarchical motor learning and synthesis with passivity-based controller and phase oscillator, in Proceedings of IEEE International Conference on Robotics and Automation, Pasadena, USA, 2008, pp.2705-2710.
  10. Morimoto, J., Hyon, S., Atkeson, C. and Cheng, G., Low-dimensional feature extraction for humanoid locomotion using kernel dimension reduction, in Proceedings of IEEE International Conference on Robotics and Automation, Pasadena, USA, 2008, pp.2711-2716.
  11. Cheng, G., Hyon, S., Ude, A., Morimoto, J., Hale, J., Hart, J., Nakanishi, J., Bentivegna, D., Hodgins, J., Atkeson, C., Mistry, M., Schaal, S. and Kawato, M., CB: Exploring neuroscience with a humanoid research platform, in Proceedings of IEEE International Conference on Robotics and Automation, Pasadena, USA, 2008, pp.1772-1773.
  12. Satoh, S., Fujimoto, K., Hyon, S., Biped gait generation via iterative learning control including discrete state transitions, in Proceedings of 17th IFAC World Congress, Seoul, Korea, 2008, pp.1729-1734.
  13. Hyon, S. and Cheng, G., Simultaneous adaptation to rough terrain and unknown external forces for biped humanoids, in Proceedings of IEEE-RAS International Conference on Humanoid Robots, Pittsburgh, USA, 2007.
  14. Morimoto, J., Endo, G., Hyon, G. and Cheng, G. A simple approach to humanoid locomotion, in Proceedings of IEEE-RAS International Conference on Humanoid Robots, Pittsburgh, USA, 2007.
  15. Hyon, S. and Cheng, G., Disturbance rejection for biped humanoids, in Proceedings of IEEE International Conference on Robotics and Automation, pp.2668-2675, Roma, Italy, 2007.
  16. Matsubara, T., Morimoto, J., Nakanishi, J., Hyon, S., Hale, J. G. and Cheng, G.,Learning to acquire whole-body humanoid CoM movements to achieve dynamic tasks, in Proceedings of IEEE International Conference on Robotics and Automation, pp.2688-2693, Roma, Italy, 2007.
  17. Hyon, S. and Cheng, G., Gravity compensation and full-body balancing for humanoid robots, in Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp.214-221, Genova, Italy, 2006.
  18. Cheng, G., Hyon, S., Morimoto, J., Ude, A. and Jacobsen, S. C., CB: A humanoid research platform for exploring neuroScience, in Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp.182-187, Genova, Italy, 2006.
  19. Hyon, S. and Cheng, G., Passivity-based full-body force control for humanoids and application to dynamic balancing and locomotion, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4915-4922, Beijing, China, 2006.
  20. Satoh, S., Fujimoto, K. and Hyon, S. , Gait generation for passive running via iterative learning control, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, pp.5907-5912, Beijing, China, 2006
  21. Satoh, S., Fujimoto, K. and Hyon, S., Gait generation for a one legged hopping robot via iterative learning control based on variational symmetry, in Proceedings of IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC06), pp.125-130, Nagoya, Japan, 2006.
  22. Takahashi, T., Yamakita, M. and Hyon, S., An optimization approach for underactuated running robot, in Proceedings of SICE-ICASE International Joint Conference, pp.3505-3510, Busan, Korea, 2006.
  23. Hyon, S. and Emura, T., Symmetric walking control: Invariance and global stability, IEEE International Conference on Robotics and Automation, pp.1455-1462, Barcelona, Spain, Apr. 2005.
  24. Asano, F., Luo, Z. and Hyon, S., Parametric excitation mechanisms for dynamic bipedal walking, IEEE International Conference on Robotics and Automation, pp.611-617, Barcelona, Spain, Apr. 2005.
  25. Ueta, T., Kousaka, T., Kawabe, T. and Hyon, S., Partial external force control for piecewise smooth dynamical systems, The IASTED International Conference on Circuits, Signals, and Systems (CSS 2004), pp.108-113, Florida, USA, Nov 2004.
  26. Hyon, S., Yokoyama, N. and Emura, T., Back handspring robot - Target dynamics-based control, IEEE/RSJ IROS, pp.248-253, Sendai, Japan, Sep 2004.
  27. Hyon, S., Jiang, X., Emura, T. and Ueta, T., Passive running of planar 1/2/4-legged robots, IEEE/RSJ IROS, pp.3532-3539, Sendai, Japan, Sep 2004.
  28. Hyon, S., Emura, T. and Ueta, T., Detection and stabilization of hybrid periodic orbits of passive running robots, Mechatronics and Robotics, pp.1309-1314, Aachen, Germany, Sep 2004.
  29. Hyon, S., Yokoyama, N., Emura, T., Back handspring control of a multi-link gymnastic robot, 3rd IFAC Symposium on Mechatronic Systems, pp. 73-78, Sydney, Australia, Sep 2004.
  30. Hyon, S., Emura, T., Ueta, T., Delayed feedback control of one-legged passive running robot, Proc. of SICE Annual Conference, pp.949-954, Sapporo, Japan, Aug 2004.
  31. Hyon, S., Yokoyama, N., Emura, T., Back handspring control of a four-link gymnastic robot, Proc. of SICE Annual Conference, pp.960-965, Sapporo, Japan, Aug 2004.
  32. Hyon, S. and Emura, T., Running control of a planar biped robot based on energy-preserving strategy, Proc. of IEEE ICRA, pp.3791-3796, New-Orleans, USA, Apr 2004.
  33. Hyon, S. and Emura, T., Aerial posture control for 3D biped running using compensator around yaw axis, Proc. of IEEE ICRA, pp.57-62, Taipei, Taiwan, Sep 2003.
  34. Hyon, S., Abe, S. and Emura, T. , Development of a biologically-inspired biped robot KenkenII, Proc. of 6th Japan-France Congress on Mechatronics & 4th Asia-Europe Congress on Mechatronics, pp.404-409, Hatoyama, Japan, Sep 2003.
  35. Emura, T., Hyon, S. and Kuroda, Y., A biped hopper controlled around yaw axis by body-twisting motion, Proc. of Int. Conf. on Mechatronics 2003 (ICOM2003), pp. 505-510, Loughborough, UK, Jun 2003.
  36. Hyon, S. and Emura, T., Quasi-periodic gaits of passive one-legged hopper, Proc. of IEEE/RSJ IROS, pp. 2625-2630, Lausanne, Switzerland, Sep 2002.
  37. Hyon, S. and Mita, T., Development of a biologically inspired hopping robot -Kenken, Proc. of IEEE ICRA, pp. 3984-3991, Washington, USA, May 2002.
  38. Hyon, S. and Mita, T., Analytical time optimal control solution for a two link somersault robot, Proc. of TITech COE/Super Mechano-Systems Symposium, 2001.
  39. Hyon, S., Kamijo, S. and Mita, T., `Kenken'-a biologically inspired one-legged running robot, Proc. of TITech COE/Super Mechano-Systems Symposium, 2001.
  40. Mita, T., Hyon, S. and Nam, T., Analytical time optimal control solution for free flying objects with drift terms, Proc. of IEEE CDC, 2000.
  41. Setiawan, S. A., Hyon, S., Yamaguchi, J. and Takanishi, A., Physical Interaction between Human and a Bipedal Humanoid Robot -Realization of Human-follow Walking-, Proc. of IEEE ICRA, pp. 361-367, 1999. (The Best Conference Paper Award, Finalist)
  42. ( Hyon, S., Aoyagi, D., Setiawan, S. A., Yamaguchi, J., Takanishi, A., Physical interaction between human and a bipedal humanoid robot - realization of human-follow walking -, Proc. of 16th Annual Conference of RSJ, pp. 951-952, 1998 (in Japanese).)

Book chapter

  1. Satoh, S., Fujimoto, K. and Hyon, S., Gait generation for a hopping robot via iterative learning control based on variational symmetry, Lecture Notes in Control and Information Sciences 336, pp.197-208, Springer-Verlag, 2007.
  2. Setiawan, S. A., Hyon, S., Yamaguchi, J. and Takanishi, A., Quasi Real-time Walking Control of a Bipedal Humanoid Robot Based on Walking Pattern Synthesis, Experimental Robotics VI, Lecture Notes in Control and Information Sciences 250, pp.309-318, Springer, 1999.

Thesis

  1. Hyon, S., Development and Control of One-Legged Hopping Robot, Ph.D thesis, Tokyo Institute of Technology, 2002.
  2. Hyon, S., Physical Interaction between Human and a Bipedal Humanoid Robot - Realization of Human-Follow Walking -, MS Thesis, Waseda University, 1997.

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Sang-Ho Hyon