Robotics • Control • Teleoperation
I build contact-rich manipulation systems with a focus on variable impedance control, simulation-to-real pipelines, and human-in-the-loop teleoperation.
- 🤖 Deformable / contact-rich manipulation, impedance & force control
- 🕹️ Teleoperation (hand tracking + haptics) for data collection & control prototyping
- 🧪 Simulation with Isaac Sim / Isaac Lab / MuJoCo + ROS 2 integration
| Project | What I did | Stack |
|---|---|---|
| DClaw Teleoperation in Isaac Lab | RealSense + MediaPipe hand tracking → ROS 2 topics → Isaac Lab simulation. Includes robot configs & impedance/drive variants. | Isaac Lab, ROS 2, Python |
| MuJoCo UR5e + DClaw Simulation | UR5e + DClaw MJCF environment with IK / PD / impedance / OSC experiments & utilities. | MuJoCo, Python |
| DClaw in Isaac Sim | MJCF → USD conversion trials and Isaac Sim example integration. | Isaac Sim, Python |
| DClaw ROS 2 (Foxy) | ROS 2 interface + basic command examples for DClaw. | ROS 2, C++/Python |
| SenseGlove Nova 2 Master Device Teleoperation | C++ SDK examples + TCP(JSON) server for streaming hand data and sending haptic feedback back (MuJoCo bridge-ready). | C++, Python, Haptics |
If you’re interested in collaboration (teleop / haptics / manipulation), feel free to open an issue or reach out.
- Control: impedance / admittance, operational space control, stability in contact
- Manipulation: grasping, force regulation, deformable objects
- Learning: imitation learning / generative policy ideas for control references
- Systems: ROS 2, sensor integration, real-time data pipelines
Languages: Python, C++
Robotics: ROS 2, UR robots, Dynamixel-based platforms
Sim: Isaac Sim / Isaac Lab, MuJoCo
Dev: Linux, Docker, Git, CI/CD basics
- Blog: https://velog.io/@woosong
- Website: https://songwookim.github.io
- Linkedin: https://www.linkedin.com/in/song-woo-kim-07b61221a/
Open
- Random Quote Machine: https://github.com/songwookim/random_quote
- Movie Ranking App: https://github.com/songwookim/movieApp
- Public Dog Playground Reservation Service: https://github.com/songwookim/pet-public-playground-reservation-web
- Deployment notes: GitHub Actions + Docker + Ubuntu(AWS EC2): https://github.com/songwookim/dockerfile_ubuntu
- YouTube Clone: https://github.com/songwookim/youtubeClone
- Intro notebooks (NYC taxi / Titanic / Fraud): https://github.com/songwookim/intro_ml_notebooks
- DNN study log: https://github.com/songwookim/DNNPortfolio-2021-2-2-/blob/main/%EA%B9%80%EC%86%A1%EC%9A%B0-20185046-DNN-%ED%8F%AC%ED%8A%B8%ED%8F%B4%EB%A6%AC%EC%98%A4.ipynb
- Corona Safe Restaurant App: https://github.com/songwookim/final-project-corona-restaurant-app
- Spring Security/JPA study: https://github.com/songwookim/BookManager , https://github.com/songwookim/spring-security
Open