Aerospace Engineering, Seoul National University
My research centers on autonomous aerial manipulation: giving flying robots the ability to understand a task and physically interact with their surroundings on their own.
I am a Ph.D. student in Aerospace Engineering at Seoul National University, working in the Lab for Autonomous Robotics Research (LARR) under the supervision of Prof. H. Jin Kim. I received my B.S. in Mechanical & Aerospace Engineering from Seoul National University in 2025.
I approach aerial manipulation from two directions. On the control side, I develop controllers for omnidirectional aerial platforms and contact-rich aerial tasks, such as robust tiltrotor control under sudden disturbances and force-regulated sliding along unknown curved surfaces. On the autonomy side, I study how embodied coding agents and vision-language models can turn natural-language instructions into reliable, multi-stage aerial manipulation behaviors that transfer from simulation to real hardware.
3 updates · 2026
* equal contribution · † corresponding author
IEEE International Conference on Robotics and Automation (ICRA), 2026
A geometric backstepping controller that explicitly models servo and rotor actuator dynamics, enabling omnidirectional tiltrotors to stay robust against sudden external disturbances.
arXiv preprint, 2026
Embodied coding agents often fail on aerial manipulators because limited onboard sensing hides task outcomes and fragile physical interaction obscures why a program failed. We introduce Active Feedback, where the agent writes diagnostic programs that run in simulation to look from informative viewpoints (View) or test failure hypotheses through targeted interaction (Probe). Across six simulated tasks, this raises task success from 31.7% to 75%, and the refined programs run on a real aerial manipulator without source-code changes.
Under review
A kinematic-slip-aware path-planning framework that lets multiple nonholonomic robots carry a large object through cluttered environments while maintaining rigid formation.
ICROS Annual Conference, Daegu, Korea, 2026
A perception-and-control pipeline that fits a superquadric model to an onboard point cloud, extracts contact normals and sliding trajectories in closed form, and tracks them with a hybrid motion/force controller combining a switching disturbance observer and RISE-based force control.
Seoul National University · 2019 – present
Seoul National University
Integrated M.S./Ph.D. in Aerospace Engineering
Advisor: Prof. H. Jin Kim
Seoul National University
B.S. in Mechanical & Aerospace Engineering