DONGHO KANG

Wasserwerkstrasse 12

8006 Zurich

Switzerland

I am a doctoral student in computer science based in Zurich, Switzerland 🇨🇭. From 2019, I am a scientific assistant of the Computational Robotics Lab, ETH Zurich, led by Prof. Stelian Coros.

My research aims to generate natural, animal-like legged robot motions. Thus, my research interests are broad ranging to legged locomotion control, computational models of character animation and finally design optimization for robotics applications.

Other than my professional bio, I am from Seoul, South Korea 🇰🇷. As I describe myself, I am an open source enthusiast, a video game fan, and a classical music lover. In my free time, I hike beautiful mountains in Switzerland, play video games, go to orchestral concerts and watch Ghibli and Disney movies (specifically, I am a big fan of Star Wars series). :D

I am currently looking for self-motivated Master students (from ETH or students from any other institutes who can visit ETH Zurich by an available exchanging program) who are passionate to join our journey to build a bio-inspired legged robot. If you are intested in participating in one of our 3-month (14-weeks, part-time) or 6-month (full-time) research projects at Computational Robotics Lab, please see more details here if you are interested.

The Computational Robotics Lab is looking for a talented mechatronics engineer who has a strong background in designing, and building a robotic system. If you are interested in joing CRL as a part-time or a full-time research engineer, please contact us through crl-jobs (at) inf (dot) ethz (dot) ch: more details are availabe here.

news

Oct 23, 2022	IROS 2022 starts today in Kyoto, Japan! My presentation "Animal Motions on Legged Robots Using Nonlinear Model Predictive Control" will take place on 26.10.2022 Wednesday, at 14:50. Please visit Rm19 (Legged Robots 2) if you are interested in.
Jun 30, 2022	I am happy to announce my paper, "Animal Motions on Legged Robots Using Nonlinear Model Predictive Control" has been accepted to 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022).
May 19, 2022	I am presenting my recent work, "Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis" in 6th Full-Day Workshop on Legged Robots that is held at ICRA 2022 on May 27 (Friday). If you are interested, please join the workshop and find me!
Sep 27, 2021	IROS 2021 starts today! My presentation "Animal Gaits on Quadrupedal Robots Using Motion Matching and Model Based Control" will take place on 30.09.2021 Thursday, at 16:25. Prerecorded video presentation is also available on YouTube.
Jul 9, 2021	I am happy to announce my two papers have been accepted to 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021): Dongho Kang, Simon Zimmermann, and Stelian Coros, "Animal Gaits on Quadrupedal Robots using Motion Matching and Model-Based Control" Flavio De Vincenti, Dongho Kang, and Stelian Coros, "Control-Aware Design Optimization for Bio-Inspired Quadruped Robots"

selected publications

Animal Motions on Legged Robots Using Nonlinear Model Predictive Control

Kang, Dongho, De Vincenti, Flavio, Adami, Naomi C., and Coros, Stelian

In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022

Bib PDF Website Video

@inproceedings{kang2022animal,
  title = {Animal Motions on Legged Robots Using Nonlinear Model Predictive Control},
  author = {Kang, Dongho and De Vincenti, Flavio and Adami, Naomi C. and Coros, Stelian},
  booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {11955-11962},
  year = {2022},
  organization = {IEEE},
  doi = {10.1109/IROS47612.2022.9981945}
}

Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis

Kang, Dongho, De Vincenti, Flavio, and Coros, Stelian

2022

arXiv Bib PDF Website Video

@misc{kang2022nonlinear,
  title = {Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis},
  author = {Kang, Dongho and De Vincenti, Flavio and Coros, Stelian},
  doi = {10.48550/ARXIV.2207.10465},
  year = {2022},
  eprint = {2207.10465},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
}

Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control

Kang, Dongho, Zimmermann, Simon, and Coros, Stelian

In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021

Bib PDF Website Video

@inproceedings{kang2021animal,
  title = {Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control},
  author = {Kang, Dongho and Zimmermann, Simon and Coros, Stelian},
  booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {8500--8507},
  year = {2021},
  organization = {IEEE},
  doi = {10.1109/IROS51168.2021.9635838},
}

Control-Aware Design Optimization for Bio-Inspired Quadruped Robots

De Vincenti, Flavio, Kang, Dongho, and Coros, Stelian

In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021

Bib

@inproceedings{devincenti2021control,
  title = {Control-Aware Design Optimization for Bio-Inspired Quadruped Robots},
  author = {De Vincenti, Flavio and Kang, Dongho and Coros, Stelian},
  booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {1354--1361},
  organization = {IEEE},
  year = {2021},
}

End-to-End Collision Avoidance from Depth Input with Memory-based Deep Reinforcement Learning

Kang, Dongho

2019

Bib Website

@mastersthesis{kang2019end,
  title = {End-to-End Collision Avoidance from Depth Input with Memory-based Deep Reinforcement Learning},
  author = {Kang, Dongho},
  year = {2019},
  school = {ETH Zurich},
}