Kim Jeonghyeon · 김정현

Kim Jeonghyeon
I'm an M.S. student in Mechanical Engineering at Korea University, where I work in the Human-Machine Systems Lab under Prof. Shinsuk Park on Dynamics Modeling and Whole-Body Control for legged and humanoid robots. I believe good control doesn't come from building a more complex model, but from designing a model at the level that fits the purpose — I'm currently developing a Balance Descriptor that lets a humanoid policy explicitly reason about its own changing dynamics. I received my B.S. in Mechanical Engineering from Korea University in 2025.

Email / CV / GitHub / LinkedIn

Research Interests

  • Dynamics Modeling for robots with complex physical interactions
  • Whole-Body Control, bridging model-based, optimization, and learning-based methods
  • Generalizable control principles across mobile manipulators, legged robots, and humanoids

Leadership

Quadruped Robot Obstacle Avoidance — Creative Challenger Program Mar. 2024 – Jan. 2025

Team Leader · RoboStride · Korea University

Led a four-person team building an ORB-SLAM and UV-disparity based obstacle-avoidance pipeline for a quadruped robot. Won the President’s Award; the work was later presented at the KSPE 2025 Spring Conference. Project page →

Ladder-Crossing Robot Mar. 2023 – Sep. 2023

Team Leader · 5-person team · Korea University

Led the mechanical design and control of a robot that climbs a horizontal ladder by gripping successive rungs and shifting its center of mass. Project page →

Solar Tracking Parasol Sep. 2023 – Nov. 2023

Team Leader · Korea University

Led the design of a parasol that senses sun position and actuates its canopy to track it. Won the Bronze Award at the Creative Comprehensive Design Competition and the Design Award at the Capstone Design Fair. Project page →

Teaching Experience

Teaching Assistant, Robotics Spring 2026

Korea University

Teaching Assistant, Computer-Aided Design Fall 2025

Korea University

Teaching Assistant, Dynamics (English-taught course) Summer 2025

Korea University

Teaching Assistant, Kinematics of Mechanisms Spring 2025

Korea University

Skills

Robotics & Simulation — ROS2 · Gazebo · Isaac Sim / Isaac Lab · URDF / XACRO Programming — Python · C++ · CMake Learning & Control — PyTorch · Reinforcement Learning (PPO) · Inverse Dynamics Computer Vision — OpenCV · AprilTag Tools — Linux (Ubuntu) · Git / GitHub