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

A residual reinforcement learning DOB framework that pairs an analytical observer with an RL policy is proposed that derived and enforced a state-dependent action bound on the RL policy from an input-to-state stability (ISS) analysis such that the closed loop provably confines the tracking error to a certified envelope...

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