HARCO Lab Participated in ICROS 2026

Members of HARCO Lab participated in the 2026 ICROS Conference, organized by the Institute of Control, Robotics and Systems. During the conference, our members presented their latest research in wearable robotics, human-robot collaboration, hierarchical robot control, and forestry robotics.

The conference provided a valuable opportunity for HARCO Lab members to share their research outcomes with the robotics and control community. The presented studies covered disturbance response control for wearable robots, activity recognition-based assistive systems, multi-task control of redundant robots, and motion control and trajectory planning for forestry robots.

Poster Presentation

■ ZMP-CMP Deviation-Based Disturbance Response Control for a Hip Exoskeleton

Presenter: Kang Gitae
Poster ID: P00470

Authors: Kang Gitae, Oh Jihwan, Seongmin Ha (Hanyang University), Junkyu Noh, Soonwoong Hwang, Wansoo Kim (Hanyang University ERICA)

This study presents a disturbance response control strategy for a hip exoskeleton based on the deviation between the Zero-Moment Point (ZMP) and the Centroidal Moment Pivot (CMP). The proposed approach aims to improve the exoskeleton’s response to external disturbances and support stable human locomotion.

ICROS IDEA Competition

■ Hybrid Hip Exosuit for Daily Living Assistance Based on Human Activity Recognition

Presenters: Gil Inho and Oh Jihwan
Competition Category: IDEA Competition – General Division

Authors: Oh Jihwan, Gil Inho, Seongmin Ha (Hanyang University), Junkyu Noh, Soonwoong Hwang, Wansoo Kim (Hanyang University ERICA)

This project introduces a hybrid hip exosuit designed to assist users during various activities of daily living. By integrating a human activity recognition model, the proposed system identifies the user’s current movement and adaptively provides an appropriate assistance strategy.

The team demonstrated the concept and operation of the wearable assistive system during the ICROS IDEA Competition.

Paper Presentation

■ Tracking Performance Improvement of a Forestry Hydraulic Manipulator Using Virtual Decomposition Control and Disturbance Observer

Presenter: Park Jaegyun

Authors: Park Jaegyun, Jungmok Kim, Geunwoo Kwon (Hanyang University), Soonwoong Hwang, Wansoo Kim (Hanyang University ERICA)

This research presents a control framework for improving the trajectory-tracking performance of a forestry hydraulic manipulator. The proposed method combines Virtual Decomposition Control (VDC) with a Disturbance Observer to compensate for modeling uncertainties and external disturbances in hydraulic robotic systems.

■ Null-Space Margin-Based Weighted Hierarchical Control for Multi-Task Execution

Presenter: Choi Sooin

Authors: Sooin Choi (Hanyang University), Soonwoong Hwang, Wansoo Kim (Hanyang University ERICA)

This study proposes a weighted hierarchical control framework for redundant robotic systems performing multiple tasks. The proposed method uses the available null-space margin to adjust task weights, enabling the robot to maintain task priorities while efficiently utilizing its remaining degrees of freedom.

■ Minimum-Time Trajectory Planning and Terminal Oscillation Reduction for a Forestry Robot Tool Passive Joint Using a Terminal-Aware Cost Function

Presenter: Lee Jingwang

This research presents a trajectory-planning approach for the passive joint of a forestry robot tool. A terminal-aware cost function is introduced to achieve minimum-time motion while reducing residual oscillations at the terminal state, thereby improving the speed and stability of forestry robot operations.

Awards and Achievements

HARCO Lab members received multiple awards at ICROS 2026 in recognition of their outstanding research contributions and technical achievements.

■ Best Paper Award

Park Jaegyun received the Best Paper Award for the paper titled “Tracking Performance Improvement of a Forestry Hydraulic Manipulator Using Virtual Decomposition Control and Disturbance Observer.”

■ Outstanding Paper Award

Choi Sooin received the Outstanding Paper Award for the paper titled “Null-Space Margin-Based Weighted Hierarchical Control for Multi-Task Execution.”

■ Outstanding Prize at the ICROS IDEA Competition

Gil Inho and Oh Jihwan received the Outstanding Prize in the General Division of the ICROS IDEA Competition for their project titled “Hybrid Hip Exosuit for Daily Living Assistance Based on Human Activity Recognition.”

Best Paper Award
Park Jaegyun

Outstanding Paper Award
Choi Sooin

Outstanding Prize
ICROS IDEA Competition

Through these presentations and awards, HARCO Lab demonstrated its broad research capabilities in wearable robotics, intelligent robot control, and forestry robotic systems. The conference also provided meaningful opportunities to exchange research ideas and strengthen collaboration within the robotics and control community.