Jaeyoung Haan

Papers

Total Citations

H-Index

About

Jaeyoung Haan is a pioneering roboticist whose work lies at the intersection of convex optimization and legged locomotion, with a particular focus on humanoid robot balancing and control. His most influential contribution is the development of a general framework that reformulates active balancing problems for humanoid robots as second-order cone programming (SOCP) problems—a class of convex optimization problems that can be solved with exceptional efficiency and numerical robustness. This breakthrough, detailed in his highly cited 2007 paper (53 citations), has provided a principled and computationally tractable foundation for real-time balance control in complex, dynamically unstable robots. By demonstrating that a wide range of active balancing challenges could be unified under this convex optimization lens, Haan’s work has enabled more reliable and agile humanoid locomotion, directly impacting the design of controllers for robots like ASIMO and HRP. His research elegantly bridges rigorous mathematical optimization with practical robotic systems, offering students and engineers a powerful toolkit for tackling stability and control in legged machines. Haan’s contributions remain a cornerstone for anyone working on dynamic walking and balance in humanoid robotics.