Terry Taewoong Um
Ph. D. Student, University of Waterloo
Dept. of Electrical and Computer Engineering
Adaptive Systems Laboratory
Email: terry.t.um [at] gmail.com
[Google Scholar] [LinkedIn]
Dept. of Electrical and Computer Engineering
Adaptive Systems Laboratory
Email: terry.t.um [at] gmail.com
[Google Scholar] [LinkedIn]
RESEARCH INTERESTS
Machine Learning for Human/Robot Models, Machine Learning for Athletic Activity, Deep Learning for Motion Analysis/Generation, Learning Control
EDUCATION
University of Waterloo, Ph. D. Student 2014 - present
• Major: Electrical and Computer Engineering
• Supervisor: Dana Kulić, Ph.D. [Link]
Seoul National University, M.S. 2010
• Major: Mechanical & Aerospace Engineering
• Dissertation: Tangent space RRT with lazy projection for constrained motion planning [Link]
• Supervisor: Frank Chongwoo Park, Ph.D. [Link]
Seoul National University, B.S. 2008
• Major: Mechanical & Aerospace Engineering
• Minor: Computer Science & Engineering
RESEARCH / TEACHING EXPERIENCE
Research Scientist 2012 - 2014
Robot Learning Laboratory, Medical Robotics Laboratory
Korea Institute Science and Technology (KIST), Seoul, Korea
• Conduct a research on transfer learning method for robot models
• Develop a upper limb power assistant robot
Research Engineer 2010 - 2012
Mechanical R&D Center, LIG Nex1 Co., Ltd., Gyeonggi, Korea
• Design a lower extremity exoskeleton for soldiers power augmentation
• Design a upper extremity exoskeleton for industrial laborer assistance
Research Assistant 2008 - 2010
Robotics Laboratory, Seoul National University
• Design planning and control frame work for a mobile manipulator, CIROS
• Conduct a research on novel planning algorithm for constrained motions
Teaching Assistant 2008
Seoul National University
• Assisted “Introduction to Robotics” course
PUBLICATIONS
International Journals
B. Kim, T. T. Um, C. Suh, and F. C. Park, Tangent bundle-RRT: A randomized algorithm for constrained motion planning, Robotica, May 2014. [Link]
International Conferences
T. T. Um, M. Park, and J. Park, “Independent Joint Learning: A novel task-to-task transfer learning scheme for robot models”, 2014 IEEE International Conference on Robotics and Automation (ICRA2014), June 2014. [Link]
C. Suh, T. T. Um, B. Kim, H. Noh, M. Kim, and F. C. Park, Tangent space RRT: A randomized planning algorithm on constraint manifolds, 2011 IEEE International Conference on Robotics and Automation (ICRA2011), Shanghai China, May 2011. [Link]
T. T. Um, C. Suh, B. Kim, and F. C. Park, Tangent space RRT with lazy projection: An efficient planning algorithm for constrained motions, 12th International Symposium on Advances in Robot Kinematics (ARK2010), Portorož Slovenia, June 2010. [Link]
Domestic Conferences
T. T. Um, J. Ryu, and J. Baek, Development of a lower extremity exoskeleton for soldiers power augmentation, 2012 Autumn Conference of the Korean Society of Precision Engineering, Gwangju Korea, Oct 2012.
T. T. Um, J. Ryu, and J. Baek, Kinematic compatibility evaluation of end-effector constrained exoskeleton by using manipulability ellipsoid, 2012 Korean Robotics Society Annual Conference, Gangreung Korea, June 2012.
TECHNICAL SKILLS
Programming Languages: C/C++ (MFC), Java, Python, Matlab, LabView
Design Tools: Solidworks, CATIA, AutoCAD, ANSYS, RecurDyn, ADAMS
Electronics: DAQ card, Real-Time Controller, Motors, Sensors (F/T Sensor, Encoder, IMU, and etc.), EMG sensors, Oscilloscope, Stereo Vision, etc.
PARTICIPATION IN GRANT-FUNDED RESEARCH
Human-centered Interaction for Coexistence, 2013 – 2014
• Developed learning scheme for human motion recognition
• Funded by Ministry of Education, Science and Technology, Korea
• Designed mechanical system of the upper-extremity exoskeleton
• Funded by Ministry of Education, Science and Technology, Korea
Development of Control Framework for Fast-Responding Locomotion of Exoskeletons, 2011 – 2012
• Designed mechanical and electrical system of the lower-extremity exoskeleton
• Funded by Agency for Defence Development, Korea
Development of Wearable Robot for Industrial Laborer Assistance, 2010 – 2012
• Designed control framework of upper-extremity exoskeleton for industrial laborers by using various HRI sensors
• Designed mechanical system of the upper-extremity exoskeleton
• Funded by Ministry of Knowledge Economy, Korea
Motion Planning and Control for Mobile Manipulator and Humanoid, 2008 – 2010
• Designing planning and control framework of a mobile manipulator, CIROS, which has a 3D vision and compliant grasping system
• Funded by Ministry of Knowledge Economy, Korea
