JUN SEO                                                  curriculum vitae

I am a PhD candidate (I've recently defended my thesis) working in the GRASP Laboratory at the University of Pennsylvania. I have been co-advised by Dr. Vijay Kumar and Dr. Mark Yim.

My name is Jung-won (in Korea), Jun (in the USA), and Joćo (in Portugal).



Jun, his wife Sura,
and their daughter Gio Leonor,
who was born in Lisboa, Portugal

                                                                                                                                                                                                               

Research Highlights


" Towards Autonomous Material Handling "


CLICK THE FIGURE FOR A LARGER IMAGE.
The poster was presented in an NSF workshop for Cyber-Physical Systems and also invited to CPSWeek 2014 as one of the best works.

Subtask #1: Autonomous Robotic Grasping

I have been investigating using curved, for example, planar, cylindrical, or spherical, effectors for stable grasping, in contrast to customary point fingertips. I have realized that every polyhedral object can be immobilized and caged with at most three such curved effectors. The theory can be applied to, e.g., whole-arm grasping.

CLICK THE FIGURE FOR A VIDEO; click HERE for a blog post on the MoveIt! website.

Subtask #2: Autonomous Robotic Assembly
I have been developing assembly planning algorithms for identical, modular units to construct arbitrary target structures. One of the algorithms enables rectangular modular robots to form any target structures of the common brick wall pattern in a distributed manner, without reachability problems.

CLICK THE FIGURE FOR A VIDEO showing our collective efforts; click HERE for media coverage on IEEE SPECTRUM.



Journal Publications
                            

Grasping Objects with Customized Effectors and Its Application to Whole-Arm Grasping (in preparation)



Assembly Planning for Planar Structures with Rectangular Modules (in preparation)




Automated Self-Assembly of Large Maritime Structures by a Team of Robotic Boats (under review)


IEEE Transactions on Automation Science and Engineering (T-ASE)




Conference Proceedings
                            

Self-Assembly of a Swarm of Autonomous Boats into Floating Structures


by I. O'Hara, J. Paulos, J. Davey, N. Eckenstein, N. Doshi, T. Tosun, J. Greco, J. Seo, M. Turpin, V. Kumar, and M. Yim
IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014
PDF

"Best Automation Paper Award"


Restraining Objects with Curved Effectors and Its Application to Whole-Arm Grasping

by J. Seo, M. Yim, and V. Kumar
International Symposium of Robotics Research (ISRR), Singapore, 2013
PDF



Assembly Planning for Planar Structures of a Brick Wall Pattern with Rectangular Modular Robots

by J. Seo, M. Yim, and V. Kumar
IEEE International Conference on Automation Science and Engineering (CASE), Madison, WI, USA, 2013
PDF


Spatial, Bimanual, Whole-Arm Grasping


by J. Seo and V. Kumar
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 2012
PDF


Planar, Bimanual, Whole-Arm Grasping

by J. Seo, S. Kim, and V. Kumar
IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, USA, 2012
PDF

                           
Reconfiguring Chain-type Modular Robots Based on the Carpenter's Rule Theorem

by J. Seo, S. Gray, V. Kumar, and M. Yim
International Workshop on the Algorithmic Foundations of Robotics (WAFR), Singapore, 2010
PDF


A Toolchain for the Design and Simulation of Foldable Programmable Matter

by S. Gray, J. Seo, P. White, N. Zeichner, M. Yim, and V. Kumar
ASME International Design Technical Conference (IDETC), Montreal, Canada, 2010
PDF





Invited Talks / Presentations


Grasping and Assembling with Modular Robots

GRASP/MEAM Seminar, University of Pennsylvania, 2014


Cyber-Physical Systems for Material Handling

CPSWeek 2014, Berlin, Germany, 2014
POSTER


Cyber-Physical Systems for Material Handling

NSF Workshop on Exploring New Frontiers in Cyber-Physical Systems, Washington, DC, USA, 2014
POSITION PAPER
POSTER
HIGHLIGHT TALK
"One of the best works in the workshop invited to CPSWeek 2014 in Berlin, Germany"


Grasping and Fixturing with Customized Effectors

Penn Robotics Industry Day, University of Pennsylvania, Philadelphia, PA, USA, 2014
POSTER


Grasping and Fixturing with Customized Effectors

2013 NSF Review for Printable Robots, Massachusetts Institute of Technology, Cambridge, MA, USA, 2013
POSTER
SLIDES


Restraining Objects with Curved Effectors

Northeast Robotics Colloquium, Harvard University, Cambridge, MA, USA, 2013
POSTER


A Framework for Whole-Arm Grasping

New England Manipulation Symposium, Harvard University, Cambridge, MA, USA, 2013


                           

                             
Software


Integrating CKbot (i.e., the Dynamixel) with MoveIt!


Assembly Planning with LEGO-type building blocks




Hardware


Customized Effectors for Stable Robotic Grasping