Papers
22
Total Citations
319
H-Index
11
About
Yisoo Lee is a robotics researcher whose work sits at the intersection of humanoid robot design, whole-body control, and motion planning for high-degree-of-freedom systems. His most influential contributions center on hierarchical quadratic programming (HQP) frameworks, particularly his development of continuous task transition methods that ensure smooth, uninterrupted control inputs when robots switch between prioritized tasks — a challenge fundamental to deploying humanoids and mobile manipulators in real-world settings. With over 60 citations, this work stands as his most recognized contribution and has shaped subsequent research in multi-task robot control. Lee has also made significant strides in whole-body control for both humanoid and non-holonomic mobile manipulator platforms, integrating contact force management, operational space formulations, and inequality constraints to enable robust, compliant robot behavior. His practical impact is exemplified by his involvement with Team SNU at the 2015 DARPA Robotics Challenge Finals and his contribution to the design and dissemination of the TOCABI humanoid robot. Additional work on reactive biped walking, joint elasticity analysis, and terrain-aware sensing further demonstrates the breadth of his expertise. Collectively accumulating nearly 270 citations, Lee's research provides foundational tools for advancing humanoid robots toward genuine real-world integration.
Research Focus
Key Achievements
Top Papers
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- 4Design of the Humanoid Robot TOCABI21 citations · 2022
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- 8Aesthetic design and development of humanoid legged robot16 citations · 2014
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