Publications

2023

[J] Ziwon Yoon, Joon-Ha Kim, Hae-Won Park, “Invariant Smoother for Legged Robot State Estimation With Dynamic Contact Event Information”, IEEE Transactions on Robotics, 2023

[J] D. Youm, H. Jung, H. Kim, J. Hwangbo, H. -W. Park and S. Ha, "Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion," in IEEE Robotics and Automation Letters, doi: 10.1109/LRA.2023.3320827.

[J] J. Choe, J. -H. Kim, S. Hong, J. Lee and H. -W. Park, "Seamless Reaction Strategy for Bipedal Locomotion Exploiting Real-Time Nonlinear Model Predictive Control," in IEEE Robotics and Automation Letters, vol. 8, no. 8, pp. 5031-5038, Aug. 2023, doi: 10.1109/LRA.2023.3291273.

2022

[J] S Hong, Y Um, J Park, HW Park "Agile and versatile climbing on ferromagnetic surfaces with a quadrupedal robot." Science Robotics 7.73 (2022): eadd1017 (Cover Paper)

[C] G. Kim, D. Kang, J. -H. Kim and H. -W. Park, "Contact-Implicit Differential Dynamic Programming for Model Predictive Control with Relaxed Complementarity Constraints," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

[C] T. -G. Song, Y. -H. Shin, S. Hong, H. C. Choi, J. -H. Kim and H. -W. Park, "DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

[C] M.G. Kim et al., "Design of Foothold Decision Model in Convex Model Predictive Control for Legged Robots," in Robot Intelligence Technology and Applications 6. RiTA 2021. Lecture Notes in Networks and Systems, vol 429. Springer, Cham. https://doi.org/10.1007/978-3-030-97672-9_3

[C] J.H. Choe et al., "2-DOF Rolling Joint with the Novel Interior Reinforcement Structures," in Robot Intelligence Technology and Applications 6. RiTA 2021. Lecture Notes in Networks and Systems, vol 429. Springer, Cham. https://doi.org/10.1007/978-3-030-97672-9_15

[C] J.W. Byun et al., "Learning Footstep Planning for the Quadrupedal Locomotion with Model Predictive Control," in Robot Intelligence Technology and Applications 6. RiTA 2021. Lecture Notes in Networks and Systems, vol 429. Springer, Cham. https://doi.org/10.1007/978-3-030-97672-9_4

[C] L. Amatucci et al., "Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control," 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 4701-4707, doi: 10.1109/ICRA46639.2022.9812421.

[C] Y.H. Shin et al., "Design of KAIST HOUND, a Quadruped Robot Platform for Fast and Efficient Locomotion with Mixed-Integer Nonlinear Optimization of a Gear Train," 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 6614-6620, doi: 10.1109/ICRA46639.2022.9811755.

[J] B. Cho, S. -W. Kim, S. Shin, J. -H. Oh, H. -S. Park and H. -W. Park, "Energy-Efficient Hydraulic Pump Control for Legged Robots Using Model Predictive Control," in IEEE/ASME Transactions on Mechatronics, 2022, doi: 10.1109/TMECH.2022.3190506.

2021

[J] J. H. Kim et al., "Legged Robot State Estimation With Dynamic Contact Event Information," in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6733-6740, Oct. 2021, doi: 10.1109/LRA.2021.3093876.

[J] S. -W. Kim, B. Cho, S. Shin, J. -H. Oh, J. Hwangbo and H. -W. Park, "Force Control of a Hydraulic Actuator With a Neural Network Inverse Model," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2814-2821, April 2021, doi: 10.1109/LRA.2021.3062353.

[J] B. Cho et al., "Design of a Compact Embedded Hydraulic Power Unit for Bipedal Robots," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3631-3638, April 2021, doi: 10.1109/LRA.2021.3061390.

[J] Yaran Ding, Abhishek Pandala, Chuzheng Li, Young-ha Shin, Hae-Won Park, “Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds”, IEEE Transactions on Robotics, 2021,

[C] Yeseong Jeong, Shin Seunghoon, Soonpyo Kwon, Buyoun Cho, Kim Sung Woo, Joon-Ha Kim, Jun-Ho Oh, Hae-Won Park, “Real-time Bilateral Teleoperation with Electric and Hydraulic Actuator,” The Korea Robotics Society Annual Conference, 2021

[C] Soonpyo Kwon, Joon-Ha Kim, Juwoong Byun, Hae-Won Park, “GPU Acceleration of Probabilistic Local Height Map that Resolves Race Condition,” The Korea Robotics Society Annual Conference, 2021

[C] Mingyu Kim, Seungwoo Hong, Joon-Ha Kim, Hae-Won Park, “Design of Foothold Optimization Model for Controlling Legged Robots,” The Korea Robotics Society Annual Conference, 2021

2020

[J] Hae-Won Park, Patrick Wensing, Sangbae Kim, “Jumping over Obstacles with MIT Cheetah 2,”, Robotics and Autonomous Systems , 136: 103703, 2020

[J] Buyoun Cho, Kim Sung Woo, Shin Seunghoon, Kim Min-Su, Jun-Ho Oh, Hae-Won Park, "Energy Efficient Control of Onboard Hydraulic Power Unit for Hydraulic Bipedal Robots," The Journal of Korea Robotics Society - Vol. 16, No. 2, pp.86-93

[C] Seung-Woo Hong, Joon-Ha Kim, Hae-Won Park (Corresponding Author), “Real-Time Constrained Nonlinear Model Predictive Control on SO(3) for Dynamic Legged Locomotion ,” 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, Nov 2020. Robocup Best Paper award.

[C] Yanran Ding, Chauanzheng Li, Hae-Won Park, "Wrench-based Kinodynamic Motion Planning for Multi-Legged Robots via Mixed-Integer Convex Program ," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Accepted, Las Vegas, NV, Nov 2020.

[C] Yanran Ding, Chauanzheng Li, Hae-Won Park (Corresponding Author), “Kinodynamic Motion Planning for Multi-Legged Robot Jumping Via MixedInteger Convex Program ,” 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, Nov 2020.

[J] Chuanzheng Li, Yanran Ding, Hae-Won Park, "Centroidal-momentum-based trajectory generation for legged locomotion," Mechatronics, 68: 102364, 2020

[C] Okkee Sim, Hyobin Jeong, Jaesung Oh, Moonyoung Lee, Kang Kyu Lee, Hae-Won Park, Jun-Ho Oh, "Joint Space Position/Torque Hybrid Control of the Quadruped Robot for Locomotion and Push Reaction ," 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 2020.

[C] Soonpyo Kwon, Mingyu Kim, Hae-Won Park, Jun-ho Oh, “Design of an Under-actuated Robot Finger that Control Initial Contact Point by Activating the Passive Joint before Contact,” The Korea Robotics Society Annual Conference, 2020

[C] JongHun Choe, Young-Ha Shin, Hae-Won Park, Jun Ho Oh, “Design Method of 2-DOF Rolling Motion Joint for Humanoid Shoulder Joint,” The Korea Robotics Society Annual Conference, 2020

[C] Buyoun Cho, Minsu Kim, Sungwoo Kim, Seunghoon Shin, Jeasung Oh, Hae Won Park, Jun-Ho Oh, “Mobile Pump Control for Energy-Efficient Driving of Hydraulic Actuators,” The Korea Robotics Society Annual Conference, 2020 Best Paper Award

2019

[J] Abhishek Pandala, Yanran Ding, Hae-Won Park, "qpSWIFT : A Real-time Sparse Quadratic Program Solver for Robotic Applications," IEEE Robotics and Automation Letters , 4(4): 3355-3362, 2019

[J] Won Dong Shin, Jaejun Park, Hae-Won Park, "Development and Experiments of a Bio-inspired Robot with Multi-mode in Aerial and Terrestrial Locomotion," Bioinsipiration & Biomimetics, 14(5):056009,

[J] Jaejun Park, Do Hun Kong, and Hae-Won Park, "Design of Anti-skid Foot with Passive Slip Detection Mechanism for Conditional Utilization of Heterogeneous Foot Pads," IEEE Robotics and Automation Letters, 4(2):1170-1177, 2019.

[C] Yanran Ding, Abhishek Pandala, and Hae-Won Park, "Real-time Model Predictive Control for Versatile Dynamic Motions in Quadrupedal Robots ," 2019 IEEE International Conference on Robotics and Automation (ICRA), Accepted, Montreal, Canada, May 2019.

[C] Taekyoung Kim, Jaejun Park, Sohee John Yoon, Do Hun Kong, Hae-Won Park, Yong-Lae Park, "Design of a Lightweight In atable Sensing Sleeve for Increased Adaptability and Safety of Legged Robots," 2019 IEEE International Conference on Soft Robotics (RoboSoft), Seoul, Korea, April 2019. Best conference paper award.

2018

[C] Yanran Ding and Hae-Won Park, "Single Leg Dynamic Motion Planning with Mixed-Integer Convex Optimization," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, Oct 2018.

[C] Won Dong Shin, Jae-jun Park, and Hae-Won Park, "Bio-Inspired Design of a Gliding-Walking Multi-Modal Robot," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, Oct 2018.

~2017

[J] Hae-Won Park, Patrick Wensing, and Sangbae Kim, “High-Speed Bounding with the MIT Cheetah 2: Control Design and Experiments,” International Journal of Robotics Research, 36(2):167–192, 2017.

[C] Yanran Ding and Hae-Won Park (Corresponding Author), “Design and Experimental Implementation of a Quasi-Direct-Drive Leg for Optimized Jumping,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, Sep 2017. Best Student Paper Award Finalist

[J] Hae-Won Park and Sangbae Kim, “Quadrupedal Galloping Control for a Wide Range of Speed via Vertical Impulse Scaling,” Bioinsipiration & Biomimetics, 10(2):025003, 2015.

[C] Hae-Won Park, Patrick Wensing, and Sangbae Kim, “Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds,” Robotics Science and Systems (RSS), Rome, Italy, Jul 2015

[C] Hae-Won Park, Sangin Park, and Sangbae Kim, “Variable-speed Quadrupedal Bounding Using Impulse Planning: Untethered High-speed 3D Running of MIT Cheetah 2,” IEEE/RSJ International Conference on Robotics and Automation (ICRA), Seattle, WA, May 2015, 5163–5170.

[J] Hae-Won Park and Sangbae Kim, “The MIT Cheetah, an Electricallypowered Quadrupedal Robot for High-speed Running,” Journal of the Robotics Society of Japan, 32(4):323–328, 2014.

[C] Hae-Won Park, Meng Yee Chuah, and Sangbae Kim, “Quadruped Bounding Control with Variable Duty Cycle via Vertical Impulse Scaling,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, Sep 2014, 3245–3252.

[J] Hae-Won Park, Alireza Ramezani, and J.W. Grizzle, “A Finite-state Machine for Accommodating Unexpected Large Ground Height Variations in Bipedal Robot Walking,” IEEE Transaction on Robotics, 29(2):331–345, 2013.

[J] Koushil Sreenath, Hae-Won Park, and J.W. Grizzle, “Embedding Active Force Control within the Compliant Hybrid Zero Dynamics to Achieve Stable, Fast Running on MABEL,” International Journal of Robotics Research, 32(3)324–345, 2013.

[C] Hae-Won Park, Koushil Sreenath, Alireza. Ramezani, and J. W. Grizzle, “Switching Control Design for Accommodating Large Stepdown Disturbances in Bipedal Robot Walking,” International Conference on Robotics and Automation (ICRA), St. Paul, MN, May 2012, 45–50.

[C] Koushil Sreenath, Hae-Won Park, and J. W. Grizzle, “Design and Experimental Implementation of a Compliant Hybrid Zero Dynamics Controller with Active Force Control for Running on MABEL,” International Conference on Robotics and Automation (ICRA), St. Paul, MN, May 2012, 51–56.

[J] Hae-Won Park, Koushil Sreenath, Jonathan W. Hurst, and J.W. Grizzle, “Identification of a Bipedal Robot with a Compliant Drivetrain: Parameter Estimation for Control Design,” IEEE Control Systems Magazine, 31(2):63–88, 2011. Cover article on IEEE CSM, April 2011 issues.

[J] Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and J.W. Grizzle, “A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL,” International Journal of Robotics Research, 30(9):1170–1193, 2011.

[C] Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and J. W. Grizzle, “Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL,” IEEE Conference on Decision and Control (CDC), Atlanta, GA, Dec 2010, 280–287.

[C] Jeffrey Koncsol, Hae-Won Park, and Koushil Sreenath, “Real world issues with real-time control of Mabel: A platform for experimental control of bipedal locomotion,” IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nashville, TN, Dec 2010, 659-664.

[C] J.W. Grizzle, Jonathan Hurst, Benjamin Morris, Hae-Won Park, and Koushil Sreenath, “Mabel, A New Bipedal Walker and Runner,” American Control Conference (ACC), St. Louis, MO, Jun 2009, 2030–2036.

[C] Seok-Woo Kim, Hae-Won Park, Kang-Jin Cho, No-Cheol Park, Hyun-Suk Yang, and Young-Pil Park, “Straight Line Swimming Simulation and Experiment of Robotic Fish,” The Korean Society for Precision Engineering Conference, 2008, 569–570.

[C] Kang-Jin Cho, Hae-Won Park, Seok-Woo Kim, Hyun-Suk Yang, Young-Pil Park, and No-Cheol Park, “Development of a robot with fish locomotion,” The Korean Society of Mechanical Engineers Conference, 2007, 40–45.

[C] Hae-Won Park, Sung-Hyun Kim, No-Cheol Park, Hyun-Seok Yang, YoungPil Park, Seung-Ho Kim, Yong-Heon Park, and Young-Hwan Kang, “Design of Tracked Vehicle with Passive Mechanism for Uneven Terrain,” SICE-ICASE International Joint Conference, 2006, 3132–3136.