Author

Joonhyuk Kwon

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Open access 2026

Façade Cleaning Robot for Convex-Shaped Infrastructure: Design and Experiment

This study developed an integrated robot platform, Edelstro-S, for managing complex-shaped building exteriors, addressing two key limitations of existing ascender robots: insufficient wall adaptation capability and workspace constraints. The hybrid system integrates ascender, wheel-leg, and anchor subsystems, in which...

S. Ahn, Y. Moon, Joonhyuk Kwon et al. · IEEE Access · 0 citations

Preprint Sep 2026

Stability-aware Residual Reinforcement Learning Framework for Robotic Manipulator Disturbance Compensation

Although conventional controllers and disturbance observers (DOBs) are the standard for precision tracking in manipulators, they suffer from parameter uncertainty, nonlinear friction, and compound disturbances. This study proposes a residual reinforcement learning DOB framework that pairs an analytical observer with an...

Jihong Kim, Joonhyuk Kwon, H. Kim et al. · 0 citations