English/Japanese
Last Update: 2009.09.08


Woo-Keun YOON



Woo-Keun YOON was born at Itami City, Hyogo Prefecture, Japan.
He is a third generation Korean in Japan.


April, 2009: Research Scientist in Service Robotics Research Group, Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST)
December, 2007: Established Life Robotics Inc., CTO in Life Robotics Inc.
Octorber, 2003: Visiting researcher in School of Electrical and Electronic Engineering, Queen's University of Belfast, UK. (1 month).
September, 2003: Ph.D (Eng.) in Department of Aeronautics and Space Engineering from Tohoku University.
April, 2001: Appointed as a research scientist in Task Intelligence Research Group, Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST)
August, 1999: Appointed as a research associate in Department of Aeronautics and Space Engineering, Tohoku University.
July, 1999: Withdrew from the Ph.D. course.
April, 1998: Entered Ph.D. course in Department of Aeronautics and Space Engineering, Tohoku University.
March, 1998: M.Eng. in Power and Mechanical Engineering from Kyushu University.
March, 1996: B.Eng. in Power and Mechanical Engineering from Kyushu University.
March, 1990: Graduated from Kakogawa West High School in Hyogo Prefecture.


ADD: 1-1-1 Umezono, Tsukuba, 305-8568 Japan


He is a member of the Robotics Society of Japan.


Research interest

  • Robot Control Program

  • Personal Service Robot

  • Skill Transfer Using a Bilateral Teleoperation

  • Skill for Maintenance Task

  • RT Middleware

  • Former research

  • Model-Based Robot Teleoperation (Ph.D thesis)

  • A Compact 6-DOF Haptic Interface

  • Dual-Arm Space Robot Teleoperation

  • Teleoperation of ETS-VII Mounted Robotic Arm

  • Research of Boiling Heat Transfer under Micro-Gravity (B.S thesis)

  • The Microscopic Evaluation of a Fatigue Crack Nucleation Mechanism in the Various Metal Based on AFM Observation (M.S thesis)

  • Award

    1. System Integration Award for Outstanding Young Researchers from System Integration Division, The Society of Instrument and Control Engineers (SICE), "Circle Handle Valve Manipulation by Task Skill", December, 2006

    2. SI Best Session Award from System Integration Division, The Society of Instrument and Control Engineers (SICE), "Circle Handle Valve Manipulation by Task Skill", December, 2005

    3. Youth Scientist Research Award from Kim Man Yu Science Foundation, "Human Hand Skill Analysis and Development of Skill Execution Robot", May, 2005

    4. SI Best Session Award from System Integration Division, The Society of Instrument and Control Engineers (SICE), "Robot System Development using RT Components -- R&D of RT Middleware Fundamental Function (Part 10) --", December, 2004

    5. Youth Scientist Research Award from Kim Man Yu Science Foundation, "Development of Compact 6-DOF Haptic Device with High Stiffness", May, 2003

    6. Research Award for Youth Scientist from Tohoku Chapter, System Integration Division, The Society of Instrument and Control Engineers (SICE), "Teleoperation Experiments using Engineering Test Satellite VII", December, 1999

    Paper

    Refereed International Journal Papers

    1. Masayuki Shimizu, Hirumu Kakuya, Woo-Keun Yoon, Kosei Kitagaki and Kazuhiro Kosuge: Analytical Inverse Kinematic Computation for 7 DOF Redundant Manipulator with Joint Limits and Its Application to Redundancy Resolution, IEEE Transaction on Robotics, Vol. 24, No. 5, pp. 1131-1142, 3008.10

    2. Masaru Uchiyama, Yuichi Tsumaki and Woo-Keun Yoon: Design of a Compact 6-DOF Haptic Device to Use Parallel Mechanisms, Robotics Research, Results of the 12th International Symposium ISRR, Sebastian Thrun, Rodney Brooks, Hugh Durrant-Whyte (Eds.), STAR 28, Springer-Verlag Berlin Heidelberg, pp. 145--162, 2007

    3. Woo-Keun Yoon, Takashi Suehiro, Yuichi Tsumaki and Masaru Uchiyama: Stiffness Analysis and Design of a Compact Modified Delta Parallel Mechanism, Robotica, Vol. 22, Issue 04, pp. 463-475, 2004.8

    4. Woo-Keun Yoon, Toshihiko Goshozono, Hiroshi Kawabe, Masahiro Kinami, Yuichi Tsumaki, Masaru Uchiyama, Mitsushige Oda and Toshitsugu Doi: Model-Based Space Robot Teleoperation of ETS-VII Manipulator, IEEE Transaction on Robotics and Automation, Vol. 20, No. 3, pp. 602-612, 2004.6

    5. Woo-Keun Yoon, Yuichi Tsumaki and Masaru Uchiyama: Model-Based Robot Teleoperation with Haptic Interface, Industrial Robot, Vol. 30, No. 6, pp. 584-591, 2004.2

    6. Woo-Keun Yoon, Yuichi Tsumaki and Masaru Uchiyama: An Experimental Teleoperation System for Dual-Arm Space Robotics, Journal of Robotics and Mechatronics, Vol. 12, No. 4, pp.378-384, 2000.8

    Refereed Domestic Journal Papers (in Japanese)

    1. Masayuki Shimizu, Hirmu Kakuya, Woo-Keun Yoon, Kosei Kitagaki and Kazuhiro Kosuge: Analytical Inverse Kinematics for 7 DOF Redundant Manipulators with Joint Limits, Journal of the Robotics Society of Japan, Vol. 25, No. 4, pp.606-617, 2006.5

    2. Woo-Keun Yoon, Takashi Suehiro, Hiromu Onda and Kosei Kitagaki: Task Skill Transfer Method Using a Bilateral Teleoperation, Journal of the Robotics Society of Japan, Vol. 25, No. 1, pp.155-165, 2006.1

    3. Woo-Keun Yoon, Takashi Suehiro, Yuichi Tsumaki and Masaru Uchiyama: Analysis of Structural Stiffness for a Parallel Mechanism, Transactions of the Japan Society of Mechanical Engineers (C), Vol. 70, No. 694, pp. 1778-1786, 2004.6

    4. Woo-Keun Yoon, Takashi Suehiro, Yuichi Tsumaki and Masaru Uchiyama: Design of a Modified DELTA Parallel Mechanism Based on Structural Stiffness Analysis, Transactions of the Japan Society of Mechanical Engineers (C), Vol. 69, No. 681, pp. 1358-1365, 2003.5

    5. Woo-Keun Yoon, Yuichi Tsumaki, Masaru Uchiyama, Mitsushige Oda and Toshitsugu Doi: Comparison between Master-Slave and Force Joystick Operation during the Teleoperation of a Manipulator Mounted on ETS-VII, Transactions of the Japan Society of Mechanical Engineers (C), Vol. 67, No. 662, pp. 3219-3226, 2001.10

    6. Woo-Keun Yoon, Toshihiko Goshozono, Hiroshi Kawabe, Masahiro Kinami, Yuichi Tsumaki, Masaru Uchiyama, Mitsushige Oda and Toshitsugu Doi: Teleoperation of Engineering Test Satellite VII Mounted Robotic Arm Using a Haptic Interface, Journal of the Robotics Society of Japan, Vol. 19, No. 4, pp.518-529, 2001.5

    7. Yuichi Tsumaki, Mie Takahashi, Woo-Keun Yoon and Masaru Uchiyama: An Obstacle Information Display System with Virtual Radar, Journal of the Robotics Society of Japan, Vol. 19, No. 4, pp.492-498, 2001.5

    8. Woo-Keun Yoon, Tetuya Inoue, Hiroshi Noguchi and Kenji Higashida: Microscopical Clarification of Crack Nucleation Mechanism under High-cycle Fatigue with Atomic Force Microscope (1st Report, Intergranular Crack in Polycrystalline BCC Metal), Transactions of the Japan Society of Mechanical Engineers (A), Vol. 64, No. 622, pp. 1435-1442, 1998.6

    Refereed International Conference Proceedings Papers

    1. Woo-Keun Yoon, Takashi Suehiro, Hiromu Onda and Kosei Kitagaki: Shared Autonomy Architecture for Skill Execution Manipulator, Proceedings of the 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), ETH Zurich, Switzerland, 056 (1)-(6), 2007.9.7

    2. Masayuki Shimizu, Woo-Keun Yoon, Kosei Kitagaki: Experimental Validation of Task Skill Transfer Approach Using a Humanoid Robot, Proceedings of the 2007 IEEE International Symposium on Assembly and Manufacturing (ISAM), Ann Arbor, Michigan, USA, pp.141-146, 2007.7.23

    3. Masayuki Shimizu, Woo-Keun Yoon, Kosei Kitagaki: A Practical Redundancy Resolution for 7 DOF Redundant Manipulators with Joint Limits, Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA), Roma, Italy, pp.4510-4516, 2007.4

    4. Koichi Nishiwaki, Woo-Keun Yoon and Satoshi Kagami: Motion Control System that Realizes Physical Interaction between Robot's Hands and Environment during Walk, Proceedings of 2006 IEEE-RAS International Conference on Humanoid Robots (Humanoids), Genova, Italy, pp.542-547, 2006.12

    5. Hiromu Onda, Woo-Keun Yoon, Kosei Kitagaki and Takashi Suehiro: Visualization and Analysis of "Pseudo-Contact Point" Loci for Determination of a Sensing Parameter , Proceedings of the 32nd Annual Conference of the IEEE Industrial Electronics Society (IECON), Paris, France, pp.4003-4008, 2006.11

    6. Woo-Keun Yoon, Takashi Suehiro, Hiromu Onda and Kosei Kitagaki: Task Skill Transfer Method Using a Bilateral Teleoperation, Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, pp.3250-3256, 2006.5.18

    7. Woo-Keun Yoon, Takashi Suehiro, Kosei Kitagaki, Tetsuo Kotoku and Noriaki Ando: Robot Skill Components for RT-Middleware, Proceedings of the 2nd International conference on Ubiquitous Robots and Ambient Intelligence (URAMI), KAIST/Daejeon, Korea, pp.61-65 (KRW065), 2005.11.03

    8. Masaru Uchiyama, Yuichi Tsumaki and Woo-Keun Yoon: Design of a Compact 6-DOF Haptic Device to Use Parallel Mechanisms, Proceedings of the 6th 12th International Symposium of Robotics Research (ISRR), San Francisco, CA, 2005.10.12

    9. Woo-Keun Yoon, Takashi Suehiro, Hiromu Onda and Kosei Kitagaki: Task Skill Transfer of Circle Handle Valve Manipulation, Proceedings of the 14th IEEE International Workshop on Robot and Human Interaction Communication (RO-MAN), Nashville, Tennessee, pp.505-511, 2005.8.15

    10. Noriaki Ando, Takashi Suehiro, Kosei Kitagaki, Tetsuo Kotoku and Woo-Keun Yoon: RT-Middleware: Distributed Component Middleware for RT (Robot Technology), Proceeding of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Alberta, Canada, pp.3555-3560, 2005.8.5

    11. Woo-Keun Yoon, Takashi Suehiro, Hiromu Onda and Kosei Kitagaki: Task Skill Transfer of 3-Prong Plug Manipulation, Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Monterey, California, pp.1366-1372, 2005.7.27

    12. Noriaki Ando, Takashi Suehiro, Kosei Kitagaki, Tetsuo Kotoku and Woo-Keun Yoon: Composite Component Framework for RT-Middleware (Robot Technology Middleware), Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Monterey, California, pp.1330-1335, 2005.7.27

    13. Woo-Keun Yoon, Takashi Suehiro, Kosei Kitagaki and Hiromu Onda: Task Skill Transfer of Nut Attachment Task, Proceedings of the 6th IEEE International Symposium on Assembly and Task Planning (ISATP), Montreal, Canada, ITP-15, 2005.7.20

    14. Noriaki Ando, Takashi Suehiro, Kousei Kitagaki, Tetsuo Kotoku and Woo-Keun Yoon: RT-Component object model in RT-Middleware - Distributed component middleware for RT (RobotTechnology)-, Proceedings of the 6th IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Espoo, Finland, We-B2-5, 2005.6.29

    15. Woo-Keun Yoon, Takashi Suehiro, Hiromu Onda and Kosei Kitagaki: Task Skill Transfer of Bolt Attachment, Proceedings of the 6th IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Espoo, Finland, Tu-A3-3, 2005.6.28

    16. Woo-Keun Yoon, Takashi Suehiro, Yuichi Tsumaki and Masaru Uchiyama: A Compact Modified Delta Parallel Mechanism Design Based on a Stiffness Analysis, Proceedings of the 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Kobe, Japan, pp.1262-1267, 2003.7.23

    17. Woo-Keun Yoon, Takashi Suehiro, Yuichi Tsumaki and Masaru Uchiyama: A Method for Analyzing Parallel Mechanism Stiffness including Elastic Deformations in the Structure, Proceeding of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), EPFL, Switzerland, pp. 2875-2880, 2002.10.2

    18. Yuichi Tsumaki, Mie Takahashi, Woo-Keun Yoon and Masaru Uchiyama: Virtual Radar, Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA), Crystal Gateway Marriott Hotel, Washington D.C., pp. 1185-1190, 2002.5.13

    19. Woo-Keun Yoon, Shuichi Tachihara, Yuichi Tsumaki and Masaru Uchiyama: Evaluation of the Different Master Device Approaches for a Model-Based Space Teleoperation System, Proceeding of the 10th International Conference on Advanced Robotics 2001 (ICAR), Budapest, Hungary, pp. 357-362, 2001.8.23

    20. Woo-Keun Yoon, Toshihiko Goshozono, Hiroshi Kawabe, Masahiro Kinami, Yuichi. Tsumaki, Masaru Uchiyama, Mitsushige Oda and Toshitsugu Doi: Model-Based Teleoperation of a Space Robot on ETS-VII Using a Haptic Interface, Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA), Seoul, Korea, pp. 407-412, 2001.5.23

    21. Woo-Keun Yoon, Yuichi Tsumaki and Masaru Uchiyama: Construction of an Experimental System for Dual-Arm Robot Teleoperation in Space with Concept of Virtual Grip and Ball, Proceedings of the 9th International Conference on Advanced Robotics (ICAR), Tokyo, Japan, pp. 225-230, 1999.10.25

    22. Hiroshi Noguchi and Woo-Keun Yoon: AFM Observation of Fatigue Crack Nucleation in Low Carbon Steel, Proceeding of the Asian Pacific Conference for Fracture and Strength '99, Xi'an, China, pp. 91-106 (MM04), 1999.6.4

    23. Woo-Keun Yoon, Hiroshi Noguchi and Kenji Higashida: Clarification of Mechanism of Crack Nucleation in High Cycle Fatigue with Atomic Force Microscope, The Japan Society of Mechanical Engineers (JSME), Proceedings of Internationnal Conference on Materials and Mechanics '97, Tokyo, Japan, pp. 267-272, 1997.7.21

    Refereed Domestic Conference Proceedings Papers (in Japanese)

    1. Masayuki Shimizu, Woo-Keun Yoon and Kosei Kitagaki: Inverse Kinematic Analysis for 7 DOF Manipulators with Joint Limits Proceeding of 12th Robotics Symposia, Nagaoka, pp. 384--389, 2007.3.16

    2. Woo-Keun Yoon, Takashi Suehiro, Kosei Kitagaki, Hiromu Onda, Noriaki Ando, Fuminori Saito and Akira Nakamura: Task Skill Transfer Method Using a Teleoperation, Proceeding of 10th Robotics Symposia, Hakone, pp. 493--500, 2005.3.15

    3. Noriaki Ando, Takashi Suehiro, Kosei Kitagaki, Tetsuo Kotoku and Woo-Keun Yoon: Development of RT Composite Component Framework for Real-Time Control -- R&D of RT Middleware Fundamental Functions (Part 11) --, Proceeding of 10th Robotics Symposia, Hakone, pp. 1--6, 2005.3.14

    4. Woo-Keun Yoon, Tetsuo Kotoku, Kosei Kitagaki and Takashi Suehiro: Model-Based Teleoperation Method adjusting Modeling Errors, Proceeding of 9th Robotics Symposia, Okinawa, pp. 467--472, 2004.3.9

    5. Noriaki Ando, Takashi Suehiro, Kosei Kitagaki, Tetsuo Kotoku and Woo-Keun Yoon: Modularization of RT Element, and RT Component Implementation, Proceeding of 9th Robotics Symposia, Okinawa, pp. 288--293, 2004.3.9

    6. Tetsuo Kotoku, Kosei Kitagaki, Noriaki Ando, Woo-Keun Yoon and Takashi Suehiro: Software Development Environment of RT Middleware, Proceeding of 9th Robotics Symposia, Okinawa, pp. 282--287, 2004.3.9

    Visiting Countries (20 countries, 8%)

    create your own visited country map or check our Venice travel guide