Mincheul Kang

Scalable Graphics, Vision, & Robotics Lab.

E3-1 3443, School of Computing, KAIST
291 Daehak-ro, Yuseong-gu, Daejeon 34141, Republic of Korea
Email    mincheul.kang 'at' kaist.ac.kr

Research Interests

Inverse Kinematics
Mobile Manipulation Planning
Task and Motion Planning

Education

2017 -- Present   Ph.D. student, School of Computing, KAIST (advisor: Sung-Eui Yoon)
2015 -- 2017   M.S., Robotics Program, KAIST (advisor: Sung-Eui Yoon)
2009 -- 2015   B.S., Mechatronics Engineering, ChungNam National Univ.

Publications

Analysis and Acceleration of TORM: Optimization-based Planning for Path-wise Inverse Kinematics
Mincheul Kang and Sung-Eui Yoon
Autonomous Robots 2022
[page] [source code]

RCIK: Real-Time Collision-Free Inverse Kinematics Using a Collision-Cost Prediction Network
Mincheul Kang, Yoonki Cho, and Sung-Eui Yoon
IEEE Robotics and Automation Letters (RA-L) 2022
[page] [source code]

TORM: Fast and Accurate Trajectory Optimization of Redundant Manipulator given an End-Effector Path
Mincheul Kang, Heechan Shin, Donghyuk Kim, and Sung-Eui Yoon
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020
[page] [source code]

An Objectness Score for Accurate and Fast Detection during Navigation
Hongsun Choi, Mincheul Kang, Youngsun Kwon, and Sung-Eui Yoon
The World Congress on Advances in Nano, Bio, Robotics and Energy (ANBRE) 2019
[page]

Harmonious Sampling for Mobile Manipulation Planning
Mincheul Kang, Donghyuk Kim, and Sung-Eui Yoon
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019
[page] [source code]

Volumetric Tree*: Adaptive Sparse Graph for Effective Exploration of Homotopy Classes
Donghyuk Kim, Mincheul Kang, and Sung-Eui Yoon
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019
[page]

Automated Task Planning using Object Arrangement Optimization
Mincheul Kang, Youngsun Kwon, and Sung-Eui Yoon
International Conference on Ubiquitous Robots (UR) 2018
[page] [source code]