Papers
11
Total Citations
315
H-Index
8
About
Hun-ok Lim is a pioneering roboticist whose work has fundamentally shaped the fields of bipedal locomotion and human-friendly robotics. His research focuses on developing stable, dynamic walking for humanoid robots, particularly on uneven terrain, and on creating safe, collision-tolerant systems for human-robot interaction. Lim’s most impactful contribution is a control method for dynamic biped walking stabilized by trunk motion on sagittally uneven surfaces (130 citations), which demonstrated that a robot’s trunk could actively balance its gait—a breakthrough that enabled more natural and robust walking. He also introduced the concept of the human-friendly robot (HFR) with a viscoelastic trunk (56 citations), proposing a collision-tolerant control that prioritizes human safety without sacrificing task performance. Lim’s work extends to multi-purpose bipedal locomotor design, including the WL-15 robot with a parallel mechanism (36 citations), and he has explored emotional expression in humanoids, using whole-body motion to convey happiness, sadness, and anger. His achievements include leading the development of the WABIAN-RII humanoid and pioneering foot systems adaptable to public roads. With over 300 total citations, Lim’s research remains essential reading for anyone interested in safe, agile, and emotionally expressive humanoid robots.
Research Focus
Key Achievements
Top Papers
- 1
- 2Collision-tolerant control of human-friendly robot with viscoelastic trunk56 citations · 1999
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- 6Basic emotional walking using a biped humanoid robot18 citations · 2003
- 7
- 8Passive collision force suppression mechanism for robot manipulator9 citations · 2013
- 9Avoidance behavior from external forces for biped vehicle7 citations · 2010
- 10Emotion expression of a biped personal robot5 citations · 2002