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dudqls10/README.md

Young Bin Song

M.S. candidate in Mechanical Engineering at Sungkyunkwan University and a researcher at Robotory Lab. I build robot systems that combine proximity sensing, reactive safety control, and learning-based manipulation—and validate them on real hardware.

Portfolio · CV · Email

Research focus

  • Robot-mounted capacitive and ToF proximity sensing
  • Self-detection compensation and sensor-signal fusion
  • Proximity-aware reactive motion control with RMPflow
  • Safe human–robot interaction and learning-based manipulation

Selected work

Project Engineering focus Evidence
Proximity-Based Reactive Motion Control RMPflow, TG-RMP, RB10 obstacle avoidance Code · Case study
Robot-Mounted Proximity Sensing Capacitive/ToF fusion, calibration, embedded inference Code · Case study
Self-Detection Compensation Joint-conditioned baseline prediction, real-time residual inference Code · Case study
Camera-to-RMP Obstacle Mapping RealSense, nvblox ESDF, static/dynamic sphere fusion Code

Tools

ROS 2 · C++ · Python · PyTorch · TensorFlow · Pinocchio · CasADi · STM32 · Altium Designer

My work spans sensor hardware, embedded acquisition, signal processing, robot control, and system-level experiments. The portfolio links above provide the clearest overview of how those pieces connect.

Popular repositories Loading

  1. self_detection_raw self_detection_raw Public

    PyTorch/ROS 2 pipeline for joint-conditioned capacitive baseline prediction and real-time residual inference.

    Python

  2. self_detection_Tof self_detection_Tof Public

    ROS 2 package for joint-space self/obstacle classification from RB10 ToF sensor measurements.

    Python

  3. RMP_prox RMP_prox Public

    ROS 2 RMPflow controller for proximity-aware obstacle avoidance and TG-RMP escape on the RB10 robot.

    Python

  4. camera_rmp camera_rmp Public

    ROS 2 camera-to-RMP obstacle pipeline using RealSense D435, nvblox ESDF, medial spheres, and dynamic obstacle fusion.

    Python

  5. dudqls10.github.io dudqls10.github.io Public

    Robot sensing, safe control, and learning-based manipulation portfolio

    CSS

  6. dudqls10 dudqls10 Public

    GitHub profile for Young Bin Song