Publications

Under Review

Journals

• SH. Bang, C. Gonzalez, J. Ahn, N. Paine, and L. Sentis, “Control and Evaluation of a Humanoid Robot with Rolling Contact Joints on its Lower Body,” Frontiers in Robotics and AI, 2023 Accompanying Video

• J. Lee, J. Ahn, D. Kim, SH. Bang, and L. Sentis, “Online gain adaptation of whole-body control for legged robots with unknown disturbances,” Frontiers in Robotics and AI, vol. 8, 2022.

• J. Ahn, S. J. Jorgensen, SH. Bang, and L. Sentis, “Versatile locomotion planning and control for humanoid robots,” Frontiers in Robotics and AI, vol. 8, 2021. Accompanying Video

Conferences

• SH. Bang, C. Gonzalez, G. Moore, DH. Kang, M. Seo, and L. Sentis, “RPC: A Modular Framework for Robot Planning, Control, and Deployment,” IEEE International Symposium on System Integration (SII) 2025

• SH. Bang, C. Jové, and L. Sentis, “RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control,” IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2024

• SH. Bang, J. Lee, C. Gonzalez, and L. Sentis, “Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers,”” IEEE Conference on Decision and Control (CDC) 2024

• L. Rossini, E. Hoffman, SH. Bang, L. Sentis, and N. Tsagarakis, “A Real-Time Approach for Humanoid Robot Walking including Dynamic Obstacles Avoidance,” IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2023

• M. Seo, S. Han, K. Sim, SH. Bang, C. Gonzalez, L. Sentis, and Y. Zhu, “Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation,” IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2023 (Best Whole-body Control Paper Finalist) Accompanying Video

• C. Gonzales, SH. Bang, P. Li, S. Chinchali, and L. Sentis, “Learning Adaptive Horizon Maps Based on Error Forecast for Model Predictive Control”, IEEE Conference on Decision and Control (CDC) 2023

• J. Ahn, SH. Bang, C. Gonzalez, Y. Yuan, and L. Sentis, “Data-driven safety verification for legged robots,” IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2022

• J. Lee, SH. Bang, E. Bakolas, and L. Sentis, “MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks”, IEEE Conference on Decision and Control (CDC) 2020

• J. Ahn, D. Kim, SH. Bang, N. Paine, and L. Sentis, “Control of a high performance bipedal robot using viscoelastic liquid cooled actuators,” IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2019, pp. 146–153. Accompanying Video

Master’s Thesis

• SH.Bang “Operational Space Control of Compliant Isoelastic Robots and Their Interaction with an DIARC Cognitive Architecture.” Master’s Thesis. Department of Aerospace Engineering. The University of Texas at Austin. 2022. Accompanying Video