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<!DOCTYPE HTML>
<html lang="en">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<title>Do-Gon Kim</title>
<meta name="author" content="Do-Gon Kim">
<meta name="viewport" content="width=device-width, initial-scale=1">
<link rel="stylesheet" type="text/css" href="stylesheet.css">
<link rel="icon" type="image/png" href="images/arm_emoji.png">
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<body>
<table style="width:100%;max-width:800px;border:0px;border-spacing:0px;border-collapse:separate;margin:auto;">
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<td style="padding:2.5%;width:63%;vertical-align:middle">
<p class="name" style="text-align: center;">Do-Gon Kim</p>
<p>
I recently completed my Master's degree in Mechanical Engineering @ Columbia University. I researched in the <a href='https://roam.me.columbia.edu/'>Robotic Manipulation and Mobility (ROAM) Laboratory</a> with <a href='https://www.ricandrobots.com/'>Eric Chang</a> as a graduate researcher, advised by Professor <a href="https://roam.me.columbia.edu/people/matei-ciocarlie">Matei Ciocarlie</a>, and in the Nonlinear Controls Research Group as a graduate researcher, advised by Professor <a href='https://www.me.columbia.edu/homayoon-beigi'>Homayoon Beigi</a>. My past research can be categorized into three areas: Finger Design Integrated with Tactile Sensors, Signal Processing for Sensing, and Control Algorithm Development. I have explored the design of systems that mimic the multiple sensory receptors of human touch. Moving forward, I aim to explore the design of tactile fingers and control systems that emulate human touch and realize sensing capabilities beyond the limits of human perception. Furthermore, I seek to investigate how such biologically inspired systems can help robots better understand and interact with their environment.
</p>
<p>
Before Columbia, I received my Bachelor's degree in Mechanical Engineering @ New York University, where I worked in the <a href="https://crrl.poly.edu/">Control/Robotics Research Laboratory (CRRL)</a> as an undergraduate researcher, advised by Professor <a href="https://engineering.nyu.edu/faculty/farshad-khorrami">Farshad Khorrami</a>.
</p>
<p style="text-align:center">
<a href="mailto:dk3322@columbia.edu">Email</a> /
<a href="data/Resume_CV.pdf">CV</a> /
<!-- <a href="https://scholar.google.com/citations?user=do-gon">Scholar</a> / -->
<a href="https://github.com/do-gon">GitHub</a> /
<a href="https://www.linkedin.com/in/do-gon-kim">LinkedIn</a>
<!-- Email: dk3322 (at) columbia (dot) edu -->
</p>
</td>
<td style="padding:2.5%;width:37%;max-width:37%">
<a href="images/profile/graduation_profile.jpg">
<img style="width:100%;max-width:100%;object-fit: cover; border-radius: 50%;" alt="Profile Photo" src="images/profile/graduation_profile.jpg">
</a>
</td>
</tr>
</tbody>
</table>
<!-- Recent Updates Section -->
<h2 style="font-weight: normal; margin-bottom: 0px;">Recent Updates</h2>
<p style="line-height: 1.6; margin-top: 12px; margin-bottom: 0;">
[10-2025] Our work on SpikeATac is featured in <a href="https://www.wsj.com/tech/the-hands-problem-holding-back-the-humanoid-revolution-c1aa6123">The Wall Street Journal</a> and <a href="https://spectrum.ieee.org/video-friday-robot-halloween-2674252642">IEEE Spectrum</a>!<br>
[10-2025] Presented <a href="https://arxiv.org/abs/2504.15535">paper</a> & <a href="data/vibecheck_iros_poster_final.pdf">poster</a> at <a href="https://www.iros25.org/">IROS 2025</a><br>
[10-2025] Presented <a href="data/spikeatac_nerc_poster_final.pdf">poster</a> with ROAMHand3 demo at <a href="https://nerc2025.cis.cornell.edu/">NERC 2025</a> <br>
[7-2025] Gave a talk to Re'Generation Movement and high school students through the Jeju Special Self-Governing Province Office of Education’s “2025 Global University Exploration for High School Students”<br>
<!-- [6-2025] Paper accepted to IROS 2025!<br> -->
[5-2025] Joined Nonlinear Controls Research Group<br>
[5-2025] Graduated from Columbia University!<br>
<span id="hidden-updates" style="display: none;">
[5-2024] Joined ROAM Lab<br>
[3-2024] Featured in <a href="https://nypost.com/2024/03/19/lifestyle/nyc-robot-barista-makes-you-coffee-but-it-also-demands-a-tip/">New York Post</a> article on NYC robot barista<br>
[1-2024] Joined DitecT Lab<br>
[9-2023] Started MS Program @ Columbia University<br>
[1-2023] Graduated from New York University!<br>
[6-2022] Joined CRR Lab<br>
</span>
</p>
<a href="#" id="toggle-btn" onclick="toggleUpdates(event)" style="text-decoration: none; display: inline-block; margin-bottom: 24px;">(+) More ▼</a>
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<br>
<!-- Research Section -->
<h2 style="font-weight: normal;">Research</h2>
<p>
My current research focuses on tactile sensing, robotic manipulation, and control systems, aiming to develop robots that better understand and respond to the physical world.
</p>
<table style="width:100%;margin:auto;border-spacing:0px;">
<tbody>
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<td style="padding:16px;width:20%;vertical-align:middle">
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<source src="images/research/spikeatacpaper_after.mp4" type="video/mp4">
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<td style="padding:16px;width:80%;vertical-align:middle">
<strong>SpikeATac: A Multimodal Tactile Finger with Taxelized Dynamic Sensing for Dexterous Manipulation</strong><br>
<a href='https://www.ricandrobots.com/'>Eric T. Chang*</a>,
<a href='https://www.linkedin.com/in/peter-ballentine-aa53a8153/'>Peter Ballentine*</a>,
<a href='https://zhanpenghe.github.io/'>Zhanpeng He*</a>,
<strong>Do-Gon Kim</strong>,
<a href='https://www.linkedin.com/in/kai-jiang1/'>Kai Jiang</a>,
<a href='https://wilson20010327.github.io/'>Hua-Hsuan Liang</a>,
<a href='https://joaquinpalacios.com/'>Joaquin Palacios</a>,
<a href='https://wwang22.com/'>William Wang</a>,
<a href='https://www.linkedin.com/in/pedropiacenza/'>Pedro Piacenza</a>,
<a href='https://www.ee.columbia.edu/ioannis-john-kymissis'>Ioannis Kymissis</a>,
<a href='https://roam.me.columbia.edu/people/matei-ciocarlie'>Matei Ciocarlie</a><br>
*joint first authorship<br>
<!-- <em>Under Review</em><br> -->
<em>IEEE International Conference on Robotics and Automation (ICRA) 2026</em><br>
<a href='https://arxiv.org/abs/2510.27048'>arXiv</a> / <a href='https://roamlab.github.io/spikeatac/'>Website</a>
</td>
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<source src="images/research/vibecheck_after.mp4" type="video/mp4">
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<img src="images/research/vibecheck_before.jpg" width="100%" alt="VibeCheck Before Image">
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<strong>VibeCheck: Using Active Acoustic Tactile Sensing for Contact-Rich Manipulation</strong><br>
<a href='https://aaronzkd.github.io/KaidiZhang.web/'>Kaidi Zhang*</a>,
<strong>Do-Gon Kim*</strong>,
<a href='https://www.ricandrobots.com/'>Eric T. Chang*</a>,
<a href='https://wilson20010327.github.io/'>Hua-Hsuan Liang</a>,
<a href='https://zhanpenghe.github.io/'>Zhanpeng He</a>,
<a href='https://kathrynlampo.com/'>Kathryn Lampo</a>,
<a href='https://www.philippewu.me/'>Philippe Wu</a>,
<a href='https://www.ee.columbia.edu/ioannis-john-kymissis'>Ioannis Kymissis</a>,
<a href='https://roam.me.columbia.edu/people/matei-ciocarlie'>Matei Ciocarlie</a><br>
*equal contribution<br>
<!-- <em>Under Review</em> -->
<em>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025</em><br>
<a href='https://arxiv.org/abs/2504.15535'>arXiv</a> / <a href='https://roamlab.github.io/vibecheck/'>Website</a>
<!-- <a href='https://arxiv.org/abs/2504.15535'>arXiv</a> / <a href='https://roamlab.github.io/vibecheck/'>webpage</a> / <a href='https://github.com/roamlab/acoustic-sensing'>code</a> -->
</td>
</tr>
</tbody>
</table>
<br>
<!-- Projects Section -->
<h2 style="font-weight: normal;">Project</h2>
<p>
Selected projects from course and research.
</p>
<table style="width:100%;margin:auto;border-spacing:0px;">
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<source src="images/project/vision_based_control.mp4" type="video/mp4">
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</video>
</div>
<img src="images/project/nonlinear_control.jpeg" width="100%" alt="Vibecheck Project Image">
</div>
</td>
<td style="padding:16px;width:80%;vertical-align:middle">
<strong>PD Control on JetCobot</strong><br>
Research Project | Nonlinear Controls Research Group | Columbia University<br>
Built a ROS 2 (C++) control framework for the JetCobot.<br>
<!-- <a href='https://github.com/Do-Gon/nonlinear-control'>code</a> -->
</td>
</tr>
<tr onmouseout="vision_stop()" onmouseover="vision_start()">
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<source src="images/project/vision_based_control.mp4" type="video/mp4">
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<img src="images/project/vision_based_control.jpg" width="100%" alt="Vibecheck Project Image">
</div>
</td>
<td style="padding:16px;width:80%;vertical-align:middle">
<strong>Hand Gesture based Parallel Gripper Control</strong><br>
Research Project | ROAM Lab | Columbia University<br>
Built a vision-based control system for the parallel gripper for hands-free operation.<br>
<!-- <a href='https://github.com/Do-Gon/hand_gesture_gripper_control'>code</a> -->
</td>
</tr>
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</video>
</div>
<img src="images/project/Simulation.jpg" width="100%" alt="DeepRacer Project Image">
</div>
</td>
<td style="padding:16px;width:80%;vertical-align:middle">
<strong>Autonomous Navigation in A Scaled-Down Smart City</strong><br>
Research Project | DitecT Lab | Columbia University<br>
Designed simulation framework for autonomous vehicles to test algorithms without physical hardware. Developed a real-time ArUco marker detection system for AWS Deepracer.
</td>
</tr>
<!-- <tr onmouseout="deepracer_simulation_stop()" onmouseover="deepracer_simulation_start()">
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<source src="images/project/Simulation.mp4" type="video/mp4">
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<img src="images/project/Simulation.jpg" width="100%" alt="DeepRacer Project Image">
</div>
</td>
<td style="padding:16px;width:80%;vertical-align:middle">
<strong>A ROS-Integrated PyBullet Simulation Framework for AWS DeepRacer</strong> <br>
Research Project | DitecT Lab | Columbia University<br>
Designed simulation framework for autonomous vehicles using ROS2 and PyBullet, enabling machine learning model testing without physical hardware.<br>
<a href='data/Final_Report_AWS_Deepracer.pdf'>paper</a> / <a href='https://github.com/Do-Gon/DeepRacer_Simulator'>code</a>
</td>
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<tr onmouseout="intro_to_robotics_final_stop()" onmouseover="intro_to_robotics_final_start()">
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<img src="images/project/Introduction_to_Robotics_Final_project.jpg" width="100%" alt="Introduction to Robotics Project Image">
</div>
</td>
<td style="padding:16px;width:80%;vertical-align:middle">
<strong>Cable-Driven Parallel Robot with Adaptive Velocity Controller in Distribution Warehouse</strong> <br>
Course Project | MECE E4602 Introduction to Robotics | Columbia University<br>
Developed an adaptive velocity controller for a 4-cable-driven parallel robot, enabling dynamic speed adjustments based on the different objects.<br>
<a href='data/Group13_FinalReport.pdf'>paper</a>
</td>
</tr>
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<td style="padding:16px;width:20%;vertical-align:middle">
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<!-- Image that appears on hover -->
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</div>
</td>
<td style="padding:16px;width:80%;vertical-align:middle">
<strong>Autonomous Navigation</strong> <br>
Research Project | CRR Lab | New York University<br>
Investigated the accuracy of a map created by gmapping, one of the Simultaneous Localization and Mapping (SLAM) algorithms, using the Turtlebot3 burger.<br>
<a href='data/2022.pdf'>abstract booklet</a>
</td>
</tr>
<tr>
<td style="padding:16px; width:20%; vertical-align:middle">
<img src="images/project/robot_vision_final_project.jpg" style="width:100%; aspect-ratio:1; object-fit:cover;" alt="robot vision final project image">
</td>
<td style="padding:16px; width:80%; vertical-align:middle">
<strong>Sheet Music Sight-Reader</strong> <br>
Course Project | ROB-UY 3203 Robot Vision | New York University<br>
Created a Colab-based CV pipeline that takes in the image of a sheet of music and outputs a playable music file.<br>
<!-- <a href='https://github.com/Do-Gon/ROB-UY-3203-Robot-Vision-Project'>code</a> -->
</td>
</tr>
<tr>
<td style="padding:16px; width:20%; vertical-align:middle">
<img src="images/project/SYDRAULIC.jpg" style="width:100%; aspect-ratio:1; object-fit:cover;" alt="robot vision final project image">
</td>
<td style="padding:16px; width:80%; vertical-align:middle">
<strong>SYDRAULIC</strong> <br>
Course Project | ME-UY 4112 Senior Design I | New York University<br>
Conducted finite element modeling and analysis of a hydraulic jack–assisted car door escape system using ANSYS, evaluating deformation, stress distribution, and harmonic response of piston, cylinder, and door<br>
<a href='data/MG2 Sim Pressentation.pdf'>presentation</a>
</td>
</tr>
</tbody>
</table>
<br>
<!-- Teaching Section -->
<h2 style="font-weight: normal;">Teaching</h2>
<p>
<a href="data/2025_e4601_digital_control_lecture_01.pdf">EEME E4601 Digital Control Systems</a><br>
Teaching Assistant | Columbia University | Spring 2025 <br>
<a href="data/EEMEE4601_001_2025_1-DIGITALCONTROLSYSTEMS_Do-GonKim.pdf">Final Evaluation</a><br>
</p>
<p>
<a href="data/MECEE 4602_Fall2024.pdf">MECE E4602 Introduction to Robotics</a><br>
Teaching Assistant | Columbia University | Fall 2024
</p>
<p>
<a href="data/SyllabusIntroControlsFA23wDiscrete_2-1.pdf">EEME E6601 Introduction to Control Theory</a><br>
Note Taker | Columbia University | Fall 2023 <br>
<a href="data/control_notes.pdf">Combied Notes</a><br>
</p>
<!-- Footer Section -->
<p style="text-align:right;font-size:small;">
Website template: <a href="https://github.com/jonbarron/jonbarron_website">Jon Barron</a>
</p>
</td>
</tr>
</tbody>
</table>
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