Journal
[J-1] H. Song, H. Asada, "Lipschitz Analysis of Bimanual Task Data for Constructing a Supernumerary Robotic Limb to Assist a Human," in International Journal of Robotics Research (IJRR), 2025. (under review)
[J-2] H. Song, H. Asada, “Shared Control Based on Extended Lipschitz Analysis With Application to Human-Superlimb Collaboration,” arXiv:2309.00685 [cs.RO], 2023. [arXiv]
[J-3] H. Song, H. Asada, "Integrated Voluntary-Reactive Control of a Human-SuperLimb Hybrid System for Hemiplegic Patient Support," in IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 2, pp. 1646-1653, April 2021. ICRA Best Paper in Medical Robotics Finalist [pdf][video1][video2]
[J-4] J. Guggenheim, R. Hoffman, H. Song, H. Asada, "Leveraging the Human Operator in the Design and Control of Supernumerary Robotic Limbs," in IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 2, pp. 2177–2184, April 2020. [pdf][video1][video2][video3]
[J-5] T. Bhattacharjee, G. Lee, H. Song, S. S. Srinivasa, "Towards Robotic Feeding: Role of Haptics in Fork-based Food Manipulation," 2019 IEEE International Conference on Robotics and Automation and IEEE Robotics and Automation Letters (RA-L). [pdf] [video] [media]
[J-6] H. Song, D. Lee, and D. H. Shim, “Development of a UAV using a humanoid robot,” Journal of Institute of Control, Robotics, and Systems, vol. 20, Nov. 2014, pp. 1112-1117. [pdf] [video]
Conference Proceedings
[C-1] A. Nanavati et al., "Lessons Learned from Designing and Evaluating a Robot-assisted Feeding System for Out-of-Lab Use," in 2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI). Honorable Mention for Best Full Paper [video] [website]
[C-2] H. Song, T. Bhattacharjee, S. S. Srinivasa, “Sensing Shear Forces During Food Manipulation: Resolving the Trade-Off Between Range and Sensitivity,” 2019 IEEE International Conference on Robotics and Automation (ICRA). [pdf][video] [media]
[C-3] T. Bhattacharjee, D. Gallenberger, D. Dubois, L. L'Écuyer-Lapiere, Y. Kim, A. Mandalika, R. Scalise, R. Qu, H. Song, E. Gordon, and S.S. Srinivasa, “Autonomous robot feeding for upper-extremity mobility impaired people: Integrating sensing, perception, learning, motion planning, and robot control,” 2018 Conference on Neural Information Processing Systems (NeurIPS). [video] Best Demonstration Award Winner
[C-4] H. Song, H. Shin, H. You, J. Hong, and D. H. Shim, “Toward Autonomous Aircraft Piloting by a Humanoid Robot: Hardware and Control Algorithm Design,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Republic of Korea, Oct. 2016. [pdf] [video]
[C-5] H. Song, H. Shin, H. You, and D. H. Shim, “A Study on Autonomous Flight Control System for a Fixed-wing Aircraft using a Pilot Robot,” in 2015 The Korean Society for Aeronautical and Space Sciences Fall Conference, Jeju, Republic of Korea, Nov. 2015. [pdf] [video]
[C-6] H. Song, S. Lee, S. Cho, and D. H. Shim, “A Flight Test for Neutralization of Enemy Position Using Intelligent Cooperative System of Heterogeneous Unmanned Vehicle System,” in 2015 The Korean Society for Aeronautical and Space Sciences Spring Conference, Jeongseon, Republic of Korea, Apr. 2015. [pdf] [video]
[C-7] D. Lee, H. Song, and D. H. Shim, “Optimal Path Planning Based on Spline-RRT* for Fixed-Wing UAVs Operating in Three-Dimensional Environments”, in 2014 International Conference on Control, Automation, and Systems, Goyang, Republic of Korea, Oct. 2014. [pdf]
[C-8] H. Song, P. Wachirawit, “Pedestrian crossing aid device for the visually impaired,” in Young Researchers Consortium, 2014 International Conference on Computers Helping People with Special Needs, Paris, France, Jul. 2014. [pdf] [video]
[C-9] S. Lee, H. Song, D. H. Shim, “Development of Robotic hand system using vision-based motion sensor,” in 2014 Institute of Control, Robotics, and Systems Conference, Daegu, Republic of Korea, May. 2014. [pdf] [video]
Dataset
[D-1] T. Bhattacharjee, H. Song, G. Lee, and S. S. Srinivasa, “A Dataset of Food Manipulation Strategies,” 2018. [Online]. Available: https://doi.org/10.7910/DVN/8TTXZ7
Thesis
[T-1] Ph.D. Dissertation: Shared Control Based on Predictability Analysis With Application to Human-SuperLimb Collaboration, MIT, 2023. [pdf] [video]
[T-2] M.S. Thesis: Design of Pilot Robot and Its Control Algorithm, KAIST, 2016. [pdf] [video]