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, under the supervision of Prof. Stelian Coros.

The goal of my research is to create legged robots that exhibit natural and animal-like behaviors. Thus, my research interests are broad ranging from legged locomotion control to computational models of character animation.

Apart from my professional bio, I am originally from Seoul, South Korea 🇰🇷. Describing myself, I am a video game fan, and a classical music lover.

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

Aug 23, 2023	We present our latest work, “RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion”. The paper is published to the IEEE Robotics and Automation Letters (RA-L) journal. To learn more about the paper, please visit the project website.
Jun 12, 2023	I share the results of my recent collaborative effort with Daniel Widmer, Bhavya Sukhija, and Jonas Hübotter, “Tuning Legged Locomotion Controllers via Safe Bayesian Optimization”. Visit the project website to learn more.
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).
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"
Mar 7, 2020	I am happy to announce that I am starting my Ph.D. at ETH Computational Robotics Lab. with the guidance of Prof. Stelian Coros. I participate in legged robot projects of CRL, and work with GhostRobotics Vision 60, Unitree Laikago robots.

selected publications

Tuning Legged Locomotion Controllers via Safe Bayesian Optimization

Daniel Widmer, Dongho Kang, Bhavya Sukhija, and 3 more authors

2023

arXiv Bib PDF Website

@misc{widmer2023turning,
  title = {Tuning Legged Locomotion Controllers via Safe Bayesian Optimization},
  author = {Widmer, Daniel and Kang, Dongho and Sukhija, Bhavya and Hübotter, Jonas and Krause, Andreas and Coros, Stelian},
  year = {2023},
  eprint = {2306.07092},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO}
}

RL + Model-Based Control: Using On-Demand Optimal Control to Learn Versatile Legged Locomotion

Dongho Kang, Jin Cheng, Miguel Zamora, and 2 more authors

IEEE Robotics and Automation Letters, 2023

arXiv Bib Website

@article{kang2023rl,
  author = {Kang, Dongho and Cheng, Jin and Zamora, Miguel and Zargarbashi, Fatemeh and Coros, Stelian},
  journal = {IEEE Robotics and Automation Letters},
  title = {RL + Model-Based Control: Using On-Demand Optimal Control to Learn Versatile Legged Locomotion},
  year = {2023},
  volume = {8},
  number = {10},
  pages = {6619-6626},
  doi = {10.1109/LRA.2023.3307008}
}

Animal Motions on Legged Robots Using Nonlinear Model Predictive Control

Dongho Kang, Flavio De Vincenti, Naomi C. Adami, and 1 more author

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

Bib PDF Website

@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

Dongho Kang, Flavio De Vincenti, and Stelian Coros

2022

arXiv Bib PDF Website

@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},
  year = {2022},
  eprint = {2207.10465},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO}
}

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

Dongho Kang, Simon Zimmermann, and Stelian Coros

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

Bib PDF Website

@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

Flavio De Vincenti, Dongho Kang, and Stelian Coros

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},
  doi = {10.1109/IROS51168.2021.9636415}
}