Dohyeon Lee

I am an undergraduate student in the Department of IT Convergence Engineering at POSTECH in South Korea.

I’m interested in making robot motion agile and natural.
I believe that, for robots to maintain continuous and agile movement even in complex situations, there is no reason not to leverage information such as the robot’s dynamic model.
By appropriately combining model-based and learning-based methods, I aim to create fast yet safe robot motions.

Email / Scholar / Youtube / CV

Publications

Representative papers are highlighted.
(Equal contributions are denoted by *)

A Highly Maneuverable Flying Squirrel Drone with agility-improving Foldable Wings
Dohyeon Lee*, Jun-Gill Kang*, Soohee Han
IEEE Robotics and Automation Letters (RA-L), 2025
project page / video / arxiv

Develop general trajectory tracking controller of flying squirrel with learned wing dynamics.

A Highly Maneuverable Flying Squirrel Drone with Controllable Foldable Wings
Jun-Gill Kang*, Dohyeon Lee*, Soohee Han
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
project page / video / arxiv

Build and control non-linear dynamics governed flying squirrel inspired quadrotor using reinforcement learning.

Projects

	Reachability-Aware MPPI for aggressive maneuvers 08.2025-Current • Environment estimation from the sample history of MPPI. • Obtain the reachable set using an empirical gramian based method.
	Development of highly maneuverable Flying Squirrel Drone 06.2022-06.2025 video • Implement integral backstepping based Lyapunov stable controller for drone. • Implement adaptive Kalman filters for state estimation under aggressive maneuvers. • Collect data using Mocap and GNSS for training neural net dynamics model. • Implement simulation for full SE(3) dynamics model using MATLAB using ode45 integrator. Skills : Linkage system design, 3D CAD, Hardware design, GNSS, Mocap, Learning from demonstration
	Sloshing control with Physics-Informed RNN by 6-axis manipulator 08.2023 - 02.2024 Related achievement: 1st place, 2023 Undergraduate Group Research Program, POSTECH video • Development of 6-axis manipulator hardware and stabilization of low-level control system. • Proposal and Implementation of a Physics-Informed RNN for water state observer. • Implement LQR controller and velocity motion planning of manipulator for water sloshing control. Skills : 3D CAD, 3D printing, Physics-Informed Learning, ROS2
	Whole-body control of quadrupedal robot with arm by off-policy RL 06.2023-08.2023 video • implement off-policy (SAC) and on-policy (PPO) RL to a Legged-manipulator robot in the Isaac Gym. • Designed a learning pipeline for whole-body control of a legged-manipulator robot using a VAE and replay buffer of an off-policy RL. Skills : OSC(operational space controller), Isaac Gym, RL
	Development of Glidable Flying Squirrel Drone 02.2022-06.2022 video • Develop Glidable drone with foldable wings. • Simulating gliding drone with matlab. Skills : 3D CAD, 3D printing, Kalman Filter
	Quadruped-wheel robot control with impedance control 08.2021-01.2022 Related achievement: 1st place, 2021 Undergraduate Group Research Program, POSTECH video • Development of quadruped-wheel robot hardware and stabilization of low-level control system. • Balancing control with inverse kinematics. • Application of impedance control to the robot legs. Skills : 3D CAD, 3D printing, CAN protocol, UDP protocol, simulating impedance control with matlab
	Development of self-driving platform using mecanum wheel and 2D lidar 11.2020-02.2021 Related achievement: 3rd place, 2021 ICT Convergence Project Contest, devicemart video • Directly implement mapping and A* algorithms with Python. • Development SLAM algorithm from scratch. • Hardware development. Skills : 3D CAD, 3D printing, ROS1

In the Media

About Flying Squirrel Drone Research
International Media Coverage: TechXplore(Cover Article) , NEW ATLAS(Cover Article) , heise online , TechieTonics(Personal Interview), ...
Domestic Media Coverage: SBS(Korea Major Media) , YTN(Korea Major Media) , ...

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