Sang Hun Cheong
Papers
6
Total Citations
138
H-Index
5
About
Sang Hun Cheong is a roboticist whose research centers on autonomous manipulation in cluttered and confined environments—a critical challenge for service robots operating in unstructured human spaces. His most impactful work tackles the complex problem of object retrieval when a target is buried behind obstacles, requiring the robot to strategically relocate objects rather than simply grasp around them. In his highly cited 2020 paper “Where to relocate?” (40 citations), Cheong introduced a novel algorithm that determines optimal placement for removed objects within the workspace, addressing a gap in prior methods that only decided what to remove. His subsequent work on fast and resilient manipulation planning (39 citations) developed a task and motion planning framework capable of handling dense, high-occlusion configurations with no collision-free path to the target. Cheong also contributed a comprehensive software architecture for service robots (20 citations), enabling autonomous operation without prior environmental knowledge. His integrated approach to determining both which objects to relocate and their goal positions (13 citations) further advanced the field. With over 138 total citations across his core publications, Cheong’s work is foundational for robotics researchers developing practical manipulation systems for real-world clutter.
Research Focus
Key Achievements
Top Papers
- 1
- 2Fast and resilient manipulation planning for target retrieval in clutter39 citations · 2020
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- 6Fast and resilient manipulation planning for target retrieval in clutter3 citations · 2020