About
I study Mechanical Engineering at KAIST with a double major in Electrical Engineering. My work focuses on robot dynamics, control, embedded systems, and learning-based robotics, with increasing attention to embodied systems that tie perception, decision-making, and physical interaction into one stack.
This page is the compact version of what I build and how I work. The notes are where the longer material lives.
Built a convex MPC-based humanoid locomotion framework in MuJoCo and C++, with a focus on contact-wrench optimization and single-rigid-body dynamics for stable bipedal walking. I wrote a full technical article covering the mathematics (SRB dynamics, condensed QP, yaw-rotated CoP constraints), solver engineering, and the MPC debugging methodology behind it.
An autonomous pancake-cooking robot built on LeRobot SO-ARM101, combining a staged manipulation pipeline with imitation-learning policies. The system used YOLOv8 segmentation and a ResNet18-GRU state estimator to switch behaviors robustly during pouring, flipping, and plating. I wrote a full technical article covering the perception-triggered runtime, the trigger math and debouncing, the GRU training pipeline, and the ACT policy integration.
A lightweight MuJoCo RL workspace for rapid robotics experimentation, inspired by IsaacLab-style workflows. I built it to make environment setup, training runs, and logging reproducible with minimal friction.
Led the end-to-end design and manufacturing of a geochemical exploration rover, including the driving system, control stack, onboard computing, and multi-sensor integration.
Directed the design and construction of an articulated self-balancing robot, coordinating the mechanical structure, actuator integration, and embedded control implementation.
Built a mobile robot system from scratch using ROS 2, Raspberry Pi, and Arduino for indoor mapping and navigation experiments in school environments.
Control-focused system modeling and feedback implementation work using Simulink, Arduino, and real hardware validation.
A human-centered mechatronics project using EMG signals to drive automatic pillow height adjustment for improved sleep posture and reduced neck muscle fatigue.