page updated in December 2017

Seungmoon Song

Postdoctoral Fellow
The Robotics Institute
School of Computer Science
Carnegie Mellon University

Email: ssm0445 at gmail

I am a postdoctoral fellow at the Robotics Institute of Carnegie Mellon University. I work with Drs. Chris Atkeson and Steve Collins to develop control algorithms for exoskeletons that can improve human locomotion performance. As individual users adapt their behaviors differently and accordingly to external assistance, better facilitating this adaptation in a customized way will be a key for maximizing the effect of exoskeletons.

My overall goal is better understanding human locomotion control and applying the knowledge to advance the field of rehabilitation engineering. I develop computational models (e.g., neuromechanical and probabilistic models) and conduct human experiments (planning for more experiments during my postdoc) to propose and evaluate control hypotheses. During my Ph.D. studies, at Carnegie Mellon University with Dr. Hartmut Geyer, I have focused on developing and evaluating neuromechanical control models to understand the circuitry-to-behavior layer of human locomotion. I envision my research to bring about simulation testbeds (which I call the digital locomotor clones) where training protocols and assistive devices can be evaluated and customized, as well as intelligent motion controllers for assistive and humanoid robots.

You can download my neuromechanical model here.

Google Scholar Citations

Journal papers

Predictive neuromechanical simulations indicate why walking performance declines with aging
Seungmoon Song and Hartmut Geyer
The Journal of Physiology, 2018
[paper] [press]

Evaluation of a Neuromechanical Walking Control Model Using Disturbance Experiments
Seungmoon Song and Hartmut Geyer
Frontiers in Computational Neuroscience, 2017
[paper] [video 1] [video 2]

A neural circuitry that emphasizes spinal feedback generates diverse behaviours of human locomotion
Seungmoon Song and Hartmut Geyer
The Journal of Physiology, 2015
[paper] [video] [model] [journal cover]

Refereed conference papers

Bayesian Optimization Using Domain Knowledge on the ATRIAS Biped
Akshara Rai, Rika Antonova, Seungmoon Song, William Martin, Hartmut Geyer, and Christopher G Atkeson
IEEE ICRA, submitted

Towards a hierarchical neuromuscular control model with reflex-based spinal control - A study with a simple running model
Seungmoon Song
International Symposium on Advanced Intelligent Systems, 2015
[paper] [video] [best presentation award]

Regulating speed in a neuromuscular human running model
Seungmoon Song and Hartmut Geyer
IEEE Humanoids, 2015
[paper] [video]

Toward a virtual neuromuscular control for robust walking in bipedal robots
Zachary Batts, Seungmoon Song, and Hartmut Geyer
[paper] [video]

Development of a bipedal robot that walks like an animation character
Seungmoon Song, Joohyung Kim, and Katsu Yamane
[paper] [video] [talk] [press]

Integration of an adaptive swing control into a neuromuscular human walking model
Seungmoon Song, Ruta Desai, and Hartmut Geyer
[paper] [video]

Generalization of a muscle-reflex control model to 3D walking
Seungmoon Song and Hartmut Geyer

The effect of foot compliance encoded in the windlass mechanism on the energetics of human walking
Seungmoon Song, Christopher LaMontagna, Steven H. Collins, and Hartmut Geyer
[paper] [video] [project page]

Regulating speed and generating large speed transitions in a neuromuscular human walking model
Seungmoon Song and Hartmut Geyer
[paper] [video] [slides]

The energetic cost of adaptive feet in walking
Seungmoon Song and Hartmut Geyer
[paper] [slides] [project page]

Development of an omnidirectional walking engine for full-sized lightweight humanoid robots
Seungmoon Song, Young-Jae Ryoo, and Dennis W. Hong
[paper] [video1] [video2] [slides] [project page]

Linear-time encodable rate-compatible punctured LDPC codes with low error floors
Seungmoon Song, Daesung Hwang, Sunglock Seo, and Jeongseok Ha
IEEE VTC, 2008

Refereed conference abstracts

S Song, Y Aucie and G Torres-Oviedo, Can split-belt treadmill walking be explained with a reflex-based model?, Neuroscience, 2017. [abstract] [poster]

S Song and H Geyer, Modeling and exploring elderly walking with neuromechanical simulations, Dynamic Walking, 2017. [abstract] [12 min talk + Q&A]

S Song and H Geyer, A spinal reflex based neuromuscular model of human locomotion investigated against unexpected disturbances, Neuroscience, 2016. [abstract] [poster]

S Song and H Geyer, Testing a neuromuscular locomotion control model against human experiments, Dynamic Walking, 2016. [abstract] [10 min talk + Q&A]

S Song and H Geyer, Using a neuromuscular model of human locomotion to control bipedal robots, Dynamic Walking, 2015. [abstract] [poster]

S Song and H Geyer, Robust 3D locomotion models using primarily reflex control, Dynamic Walking, 2013. [abstract] [10 min talk + 10 min Q&A]


J Kim, K Yamane, and S Song, Method for developing and controlling a robot to have movements match-ing an animation character, United States Patent 9427868, 2016. [link]

J Nam, J An, D Hwang, J Ha, and S Song, Apparatus and method for encoding low density parity check code, Korean patent 10-0999272-00-00, 2010. [link]

Invited talks

Universities and research institutes in Korea, July 2017.
“Neuromechanical control models of human locomotion and their applications to rehabilitation engineering”
[Inha University, Korea Institute of Machinery and Materials, Pohang University of Science and Technology, Korea Institute of Industrial Technology, Seoul National University]
[40 min talk + 20 min Q&A]

Universities and companies in Korea, November 2015.
“A neuromuscular model of human locomotion and its applicaiton to robotic assistive devices”
[Seoul National University, ROBOTIS, KAIST, Samsung Advanced Institute of Technology, Chung-Ang University]
[40 min talk + 20 min Q&A]

The 10th workshop on humanoid soccer robots at IEEE Humanoids, November 2015.
“Neuromuscular model of human locomotion that can generate diverse locomotion behaviors”
[30 min talk] [link]

Technical writings in Korean

“Understanding the control of human locomotion through simulation and its application to robotic assistive devices,” MATERIC (mechanical and construction engineering research information center), February, 2016. [article]

“Robotic lower-limb prosthetics related technical issues - 2. Control,” ROBOT (monthly magazine), May, 2013. [article]

“Robotic lower-limb prosthetics related technical issues - 1. Hardware,” ROBOT (monthly magazine), April, 2013. [article]