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Sohee Lee

Sohee Lee

Postdoctoral Researcher

Technische Universität München

Department of Computer Science
Informatik 9
Karlstrasse 45
80333 Munich

Tel: +49-89-289-26924
Fax: +49-89-289-17757
Office: 3008


I'm a postdoctoral researcher supported from ERASMUS MUNDUS BEAM scholarship of European Commission. I got my Ph.D degree from the department of Mechanical and Aerospace Engineering of Seoul National University (advised by Prof. Frank C. Park) and worked as a postdoctoral researcher for Humanoid Robot Research Center (HUBO Lab) in 2011.

Professional Interests

I'm highly interested in robot mechanics, planning, and control.

  • Autonomous mobile manipulation: Planning of multitasking motion for service robots. Intelligent Architecture for autonomous robots.
  • Dynamics based motion control and balancing of mobile manipulators.
  • Humanoid movement generation: analysis of optimality principle for human motor control and natural, human-like, optimal movement generation.

My research works are here.


  • WS12: Guest Lecturer, Dynamic Human Interaction in TUMunich.
  • SS12: Teaching Assistant, Technical Cognitive Systems in TUMunich.
  • Fall 2011: Lecturer, Robotics and Mechatronics in Soongsil University.
  • Spring 2004,2005: Teaching Assistant, Introduction to Robotics in Seoul National University.


Journal Articles
Rollover Prevention of Mobile Manipulators Using Invariance Control and Recursive Analytic ZMP Gradients (Sohee Lee, Marion Leibold, Martin Buss, and Frank C. Park), In Advanced Robotics, vol. 26, no. 11-12, pp. 1317-1341, 2012
Submitted Papers
Control Laws that Take into Account the Cost of Control for Human-like Robot Movement Generation (Sohee Lee, Frank C. Park, and Dongheui Lee), To the IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, 2013
Conference and Workshop Papers
Mobile Robot Motion Primitives That Take into Account the Cost of Control (Sohee Lee and Frank C. Park), In Advances in Robot Kinematics (ARK), Innsbruck, 2012
Online stability compensation of mobile manipulators using recursive calculation of ZMP gradients (Sohee Lee, Marion Leibold, Martin Buss and Frank C. Park), In Proc. of International Conference on Robotics and Automation (ICRA), St. Paul, 2012
Dynamically Stable Mobile Manipulation via Invariance Control(Sohee Lee), In UT-SNU Robotics Workshop, Tokyo, 2012
Minimum Attention as a Paradigm for Robot Movement Generation (Sohee Lee and Frank C. Park)), In US-Korea Conference on Science, Technology, and Entrepreneurship, August 11~15, 2010
An Architecture and Motion Description Language for Mobile Manipulation of Service Robots (Sohee Lee, Changmook Chun, Jungdong Kim, and Frank C. Park), In Proceedings of 39th International Symposium on Robotics, October 15~17, 2008
Task-oriented, Real-time Motion Planning and Control for Mobile Manipulator (Frank C. Park, Sohee Lee, Jungdong Kim), In The 8th Technical Workshop, Center for Intelligent Robotics, August 29-31, 2007
PhD Thesis
Dynamics-based motion planning and control of mobile manipulators, PhD thesis, Seoul National University, 2011
Last edited 13.05.2013 18:30 by Sohee Lee