Kyung Hee University ↗Department of Mechanical Engineering ↗
RCI LABRobot Control & Intelligence
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OPEN POSITIONSRCI Lab is recruiting motivated undergraduate researchers and graduate students.

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ROBOT CONTROL · PHYSICAL AI · INTELLIGENCE

Robots that move withpurpose.

We build control and intelligence that help robots move, collaborate, and make decisions in complex, human-centered environments.

Explore our researchMeet the team ↗
2023
Established
17
Graduate researchers
5
Research interns

WHAT WE DO

Control Everything.
In the Real World.

From optimal control to Physical AI, our work connects rigorous methods with experiments on real robotic systems.

Whole-body Control research previewWatch experiment ↗02

Dynamic coordination for complex robots

Whole-body Control

  • Whole-body control
  • Hierarchical QP
  • Mobile manipulation
Constrained Motion Planning research previewWatch experiment ↗04

Planning on complex constraint manifolds

Constrained Motion Planning

  • Motion planning
  • Closed-chain
  • RRT
Visual Language Navigation research preview06

Semantic maps for embodied navigation

Visual Language Navigation

  • VLN
  • Semantic mapping
  • Embodied AI
View all research themes →

SELECTED WORK

Recent publications

Research across robot control, motion planning, navigation, and learning-enabled robotic systems.

* Co-first authors† Corresponding authors

Browse publications →
01

International Journal of Control, Automation, and Systems · 2026

Manifold-Constrained MPPI: Real-Time Sampling-Based Control for Nonlinear Equality-Constrained Robotic Systems

Seulchan Lee, Sanghyun Kim†

02

Information Sciences · 2026JCR Top 18.2%

High-Performance Fixed-Time Active Fault-Tolerant Control of Robotic Manipulators via Sparse Physics-Informed Dynamics Learning

Thanh Nguyen Truong, Sanghyun Kim†

03

Engineering Applications of Artificial Intelligence · 2026JCR Top 3.1%

Instance-Enriched Semantic Maps for Visual Language Navigation

Jiho Hong*, Eunae Kang*, Sanghyun Kim†, Young-Sik Shin†

LAB UPDATES

Latest news

All news →
Media

RCI Lab provided technical consultation for the drama “연애박사,” featuring robots from our lab.

RCI Lab이 드라마 「연애박사」의 자문에 참여했으며, 연구실의 여러 로봇이 작품에 출연합니다. 자문 참여: 김상현 교수, 강민형·박수환·박다움·조현호. 엔딩 크레딧은 Pictures에서 확인할 수 있습니다.

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Patent

RCI Lab registered a domestic patent on autonomous chemical experiments.

김상현, 박보형, 조현호, “화학 실험 자율 수행 장치 및 방법,” 대한민국 특허 등록 · 등록번호: TBD · 출원일: 2026.02.09 · 출원인: 경희대학교 산학협력단.

Publication

Our MC-MPPI paper by Seulchan Lee has been accepted to International Journal of Control, Automation, and Systems.

Seulchan Lee, Sanghyun Kim†, “Manifold-Constrained MPPI: Real-Time Sampling-Based Control for Nonlinear Equality-Constrained Robotic Systems,” International Journal of Control, Automation, and Systems, 2026.

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Publication

Our paper by Jaerak Son has been accepted to the Journal of Institute of Control, Robotics and Systems.

손재락, 심재훈†, 김상현†, “유계 참조 보상과 조향률 제약을 통한 이중 조향 이동로봇의 정밀 도킹 성능 개선,” 제어·로봇·시스템학회 논문지, 2026.

Grant

RCI Lab completed a technology transfer to MetaMotionX.

기술명: MPPI 자율주행 알고리즘의 고도화 SW 개발 · 구분: 기술이전 · 이전기업: 메타모션엑스

Lab

RCI Lab has been selected for Anthropic's Claude for Scientists program.

Through the program, all lab members receive premium (Max) Claude access for research, coding, and writing.

Grant

RCI Lab won a grant from Mobinn.

과제명: 시뮬레이션 상 모바일 로봇 탑재 매니퓰레이터 모션 및 제어 개발 · 과제형태: 산학협력 · 지원기관: 모빈 · 수행기간: 2026

Service

Sanghyun Kim has been appointed to the organizing committee for IEEE ICRA 2027.

Service

Sanghyun Kim will serve as an Associate Editor for IEEE-RAS Humanoids 2026.

Publication

Our paper by Thanh Nguyen Truong has been accepted to Information Sciences.

Thanh Nguyen Truong, Sanghyun Kim†, “High-Performance Fixed-Time Active Fault-Tolerant Control of Robotic Manipulators via Sparse Physics-Informed Dynamics Learning,” Information Sciences, 2026.