publications | Byeong-Il Ham

Journal Articles

Dual-MPC Footstep Planning for Robust Quadruped Locomotion

Byeong-Il Ham, Hyun-Bin Kim, Jeonguk Kang, and 2 more authors

IEEE/ASME Transactions on Mechatronics, 2026

Temperature Compensation Method for a Six-Axis Force/Torque Sensor Using a Gated Recurrent Unit

Hyun-Bin Kim, Seokju Lee, Byeong-Il Ham, and 2 more authors

IEEE Sensors Journal, 2025
Compact and optimized optical six-axis force/torque sensor for legged robots

Hyun-Bin Kim, Byeong-Il Ham, Keun Ha Choi, and 1 more author

IEEE Transactions on Instrumentation and Measurement, 2025
A Miniature High-Resolution Tension Sensor Based on a Photo-Reflector for Robotic Hands and Grippers

Hyun-Bin Kim, Byeong-Il Ham, and Kyung-Soo Kim

IEEE Sensors Journal, 2025

External force adaptive control in legged robots through footstep optimization and disturbance feedback

Jeonguk Kang, Hyun-Bin Kim, Byeong-Il Ham, and 1 more author

IEEE Access, 2024

Ground-Aware Octree-A* Hybrid Path Planning for Memory-Efficient 3D Navigation of Ground Vehicles

Byeong-Il Ham, Hyun-Bin Kim, and Kyung-Soo Kim

In 2025 25th International Conference on Control, Automation and Systems (ICCAS), 2025
Adaptive Gait Pattern Switching under External Disturbances Using Multi-Modal MPC

Jeonguk Kang, Byeong-Il Ham, Seungho Han, and 2 more authors

In 2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2025

Development of remote piping inspection system with dual-mode locomotion quadruped robot

Hyun-Bin Kim, Chanseok Kim, Byeong-Il Ham, and 4 more authors

In International Conference on Robot Intelligence Technology and Applications, 2024

Compact Optical Single-axis Joint Torque Sensor Using Redundant Photo-Reflectors and Quadratic-Programming Calibration

Hyun-Bin Kim, Byeong-Il Ham, and Kyung-Soo Kim

2026
Accelerated Generation of Smooth Human-Aware Robot Trajectories via Consistency Distillation from a Diffusion Model

Byeong-Il Ham, Hyun-Bin Kim, and Kyung-Soo Kim

2026

Parameter optimization of optical six-axis force/torque sensor for legged robots

Hyun-Bin Kim, Byeong-Il Ham, Keun-Ha Choi, and 1 more author

2025