Robotics Sensing & Control Engineer
M.S. Candidate in Mechanical Engineering · Robotory Lab · Sungkyunkwan University
I build robot systems that connect proximity sensing, reactive motion control, and learning-based manipulation. My work spans sensor PCB and mechanical design, STM32 firmware, signal compensation, and real-robot integration for human–robot interaction.
Sensor Hardware → Robot Control → Physical AI
- Build robot-mounted capacitive and ToF sensing modules and fuse their measurements into proximity estimates.
- Compensate for signals caused by the robot's own motion using joint-state-conditioned prediction.
- Connect proximity sensing to RMPflow for reactive obstacle avoidance and continued task execution.
- Integrate learned manipulation policies with reactive control and recovery after human intervention.
| Project | Engineering focus | Links |
|---|---|---|
| 01 · Robot-Mounted Proximity Sensing System | Modular sensor PCB and mounts for Indy7, UR10, and RB10; temperature compensation, adaptive EMA, and uncertainty-based capacitive/ToF distance fusion. | Portfolio · STM32 firmware |
| 02 · Self-Detection Compensation | Predict motion-induced capacitive responses from joint position and velocity, then subtract them to isolate external-object signals across eight channels. | Portfolio · Code |
| 03 · Proximity-Based Reactive Motion Control | Connect proximity measurements to RMPflow on RB10 and add TG-RMP tangential guidance to mitigate local minima. | Portfolio · Code |
| 04 · Interactive Diffusion Policy | Integrate the RB10 closed loop: Diffusion Policy task actions, proximity/RMPflow execution, and LPB/OOD runtime for recovery after avoidance. | Portfolio · Project code |
| 05 · Proximity-Guided Avoidance–Compliance Control | Ongoing: integrate proximity and force/torque sensing, combining Target, Collision, and Contact RMPs for the transition from avoidance to compliant contact. | Portfolio |
Related work: Camera-to-RMP obstacle mapping.
| Area | Tools |
|---|---|
| Hardware & embedded | Altium Designer · STM32 · Embedded C/C++ · I²C · CAN |
| Mechanical design | Autodesk Inventor · CATIA V5 · SOLIDWORKS |
| Robot control & software | ROS 2 · RMPflow · Pinocchio · C++ · PREEMPT_RT |
| Learning & data | Python · PyTorch · TensorFlow · MATLAB |
Robot platforms: Indy7 · UR10 · RB10
- Sungkyunkwan University — M.S. Candidate in Mechanical Engineering, 2025–2027 (expected). Graduate researcher at Robotory Lab, advised by Prof. Hyuk-Ryeol Choi.
- Sejong University — B.S. in Mechanical Engineering, 2019–2025.
Experiment videos, system diagrams, results, and project details are available in my portfolio.