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 Vision / 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 developed a theoretical framework for grasping objects with customized effectors that have curved contact surfaces. Based on the theory, I have created a robotic system comprised of a modular manipulator outfitted with customized end-effectors and a software suite that runs the manipulator.

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

Subtask #2: Autonomous Robotic Assembly
I have developed efficient assembly planning algorithms for constructing planar target structures collectively with mobile modular robots that have the same rectangular footprint, in a similar manner that we construct brick walls with standardized bricks.


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




Dissertation
                            

Grasping and Assembling with Modular Robots

by J. Seo
University of Pennsylvania, 2014
PDF



Journal Publications
                            

A Theory on Grasping Objects using Effectors with Curved Contact Surfaces and Its Application to Modular Whole-Arm Grasping (in preparation)



Assembly Planning for Constructing 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


Synthesizing Grasps on a Polygonal Mesh (i.e. Finding Antipodal Pairs of the Mesh)


Grasping Objects with CKbot




Hardware


Customized Effectors for Stable Robotic Grasping