Hae-Won Park

Publication Activity (10 Years)

Years Active: 2009-2024
Publications (10 Years): 36

Top Topics

Monte Carlo Tree Search

Motion Planning

Convex Optimization

Predictive Control

Top Venues

IEEE Robotics Autom. Lett.

Publications

Ziwon Yoon, Joon-Ha Kim, Hae-Won Park
Invariant Smoother for Legged Robot State Estimation With Dynamic Contact Event Information. IEEE Trans. Robotics 40 (2024)
Jonghun Choe, Joon-Ha Kim, Seungwoo Hong, Jinoh Lee, Hae-Won Park
Seamless Reaction Strategy for Bipedal Locomotion Exploiting Real-Time Nonlinear Model Predictive Control. IEEE Robotics Autom. Lett. 8 (8) (2023)
Donghoon Youm, Hyunyoung Jung, Hyeongjun Kim, Jemin Hwangbo, Hae-Won Park, Sehoon Ha
Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion. IEEE Robotics Autom. Lett. 8 (11) (2023)
Young-Ha Shin, Tae-Gyu Song, Gwanghyeon Ji, Hae-Won Park
Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion. CoRR (2023)
Gijeong Kim, Dongyun Kang, Joon-Ha Kim, Seungwoo Hong, Hae-Won Park
Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories. CoRR (2023)
Donghoon Youm, Hyunyoung Jung, Hyeongjun Kim, Jemin Hwangbo, Hae-Won Park, Sehoon Ha
Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion. CoRR (2023)
Gijeong Kim, Dongyun Kang, Joon-Ha Kim, Hae-Won Park
Contact-Implicit Differential Dynamic Programming for Model Predictive Control with Relaxed Complementarity Constraints. IROS (2022)
Tae-Gyu Song, Young Ha Shin, Seungwoo Hong, Hyungho Chris Choi, Joon-Ha Kim, Hae-Won Park
DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators. IROS (2022)
Min-Gyu Kim, Hyun-Bin Kim, Hae-Won Park
A*-Based Path Planning for Legged Robots. RiTA (2022)
Seungwoo Hong, Yong Um, Jaejun Park, Hae-Won Park
Agile and versatile climbing on ferromagnetic surfaces with a quadrupedal robot. Sci. Robotics 7 (73) (2022)
Lorenzo Amatucci, Joon-Ha Kim, Jemin Hwangbo, Hae-Won Park
Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control. ICRA (2022)
Young Ha Shin, Seungwoo Hong, Sangyoung Woo, Jonghun Choe, Harim Son, Gijeong Kim, Joon-Ha Kim, Kang Kyu Lee, Jemin Hwangbo, Hae-Won Park
Design of KAIST HOUND, a Quadruped Robot Platform for Fast and Efficient Locomotion with Mixed-Integer Nonlinear Optimization of a Gear Train. ICRA (2022)
Lorenzo Amatucci, Joon-Ha Kim, Jemin Hwangbo, Hae-Won Park
Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control. CoRR (2022)
Yeeun Kim, Byeongho Yu, Eungchang Mason Lee, Joon-ha Kim, Hae-Won Park, Hyun Myung
STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor. IEEE Robotics Autom. Lett. 7 (2) (2022)
Yanran Ding, Abhishek Pandala, Chuanzheng Li, Young Ha Shin, Hae-Won Park
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds. IEEE Trans. Robotics 37 (4) (2021)
Joon-Ha Kim, Seungwoo Hong, Gwanghyeon Ji, Seunghun Jeon, Jemin Hwangbo, Jun-Ho Oh, Hae-Won Park
Legged Robot State Estimation With Dynamic Contact Event Information. IEEE Robotics Autom. Lett. 6 (4) (2021)
Buyoun Cho, Min-Su Kim, Sung-Woo Kim, Seunghoon Shin, Yeseong Jeong, Jun-Ho Oh, Hae-Won Park
Design of a Compact Embedded Hydraulic Power Unit for Bipedal Robots. IEEE Robotics Autom. Lett. 6 (2) (2021)
Joo Woong Byun, Donghoon Youm, Seunghoon Jeon, Jemin Hwangbo, Hae-Won Park
Learning Footstep Planning for the Quadrupedal Locomotion with Model Predictive Control. RiTA (2021)
Hae-Won Park, Patrick M. Wensing, Sangbae Kim
Jumping over obstacles with MIT Cheetah 2. Robotics Auton. Syst. 136 (2021)
Yanran Ding, Mengchao Zhang, Chuanzheng Li, Hae-Won Park, Kris Hauser
Hybrid Sampling/Optimization-based Planning for Agile Jumping Robots on Challenging Terrains. ICRA (2021)
Sung-Woo Kim, Buyoun Cho, Seunghoon Shin, Jun-Ho Oh, Jemin Hwangbo, Hae-Won Park
Force Control of a Hydraulic Actuator With a Neural Network Inverse Model. IEEE Robotics Autom. Lett. 6 (2) (2021)
Min-Gyu Kim, Seungwoo Hong, Joon-Ha Kim, Hae-Won Park
Design of Foothold Decision Model in Convex Model Predictive Control for Legged Robots. RiTA (2021)
Jonghun Choe, Jun-Ho Oh, Hae-Won Park
2-DOF Rolling Joint with the Novel Interior Reinforcement Structures. RiTA (2021)
Yanran Ding, Chuanzheng Li, Hae-Won Park
Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program. IROS (2020)
Yanran Ding, Chuanzheng Li, Hae-Won Park
Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program. CoRR (2020)
Yanran Ding, Abhishek Pandala, Chuanzheng Li, Young Ha Shin, Hae-Won Park
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds. CoRR (2020)
Seungwoo Hong, Joon-Ha Kim, Hae-Won Park
Real-Time Constrained Nonlinear Model Predictive Control on SO(3) for Dynamic Legged Locomotion. IROS (2020)
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. ICRA (2020)
Abhishek Goud Pandala, Yanran Ding, Hae-Won Park
qpSWIFT: A Real-Time Sparse Quadratic Program Solver for Robotic Applications. IEEE Robotics Autom. Lett. 4 (4) (2019)
Yanran Ding, Abhishek Pandala, Hae-Won Park
Real-time Model Predictive Control for Versatile Dynamic Motions in Quadrupedal Robots. ICRA (2019)
Jaejun Park, Do Hun Kong, Hae-Won Park
Design of Anti-Skid Foot With Passive Slip Detection Mechanism for Conditional Utilization of Heterogeneous Foot Pads. IEEE Robotics Autom. Lett. 4 (2) (2019)
Taekyoung Kim, Jaejun Park, Sohee John Yoon, Do Hun Kong, Hae-Won Park, Yong-Lae Park
Design of a Lightweight Inflatable Sensing Sleeve for Increased Adaptability and Safety of Legged Robots. RoboSoft (2019)
Yanran Ding, Chuanzheng Li, Hae-Won Park
Single Leg Dynamic Motion Planning with Mixed-Integer Convex Optimization. IROS (2018)
Won Dong Shin, Jaejun Park, Hae-Won Park
Bio-Inspired Design of a Gliding-Walking Multi-Modal Robot. IROS (2018)
Yanran Ding, Hae-Won Park
Design and experimental implementation of a quasi-direct-drive leg for optimized jumping. IROS (2017)
Hae-Won Park, Patrick M. Wensing, Sangbae Kim
High-speed bounding with the MIT Cheetah 2: Control design and experiments. Int. J. Robotics Res. 36 (2) (2017)
Hae-Won Park, SangIn Park, Sangbae Kim
Variable-speed quadrupedal bounding using impulse planning: Untethered high-speed 3D Running of MIT Cheetah 2. ICRA (2015)
Hae-Won Park, Patrick M. Wensing, Sangbae Kim
Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds. Robotics: Science and Systems (2015)
Hae-Won Park, Meng Yee Chuah, Sangbae Kim
Quadruped bounding control with variable duty cycle via vertical impulse scaling. IROS (2014)
Hae-Won Park, Alireza Ramezani, J. W. Grizzle
A Finite-State Machine for Accommodating Unexpected Large Ground-Height Variations in Bipedal Robot Walking. IEEE Trans. Robotics 29 (2) (2013)
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, J. W. Grizzle
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL. Int. J. Robotics Res. 32 (3) (2013)
Koushil Sreenath, Hae-Won Park, J. W. Grizzle
Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL. ICRA (2012)
Hae-Won Park, Koushil Sreenath, Alireza Ramezani, Jessy W. Grizzle
Switching control design for accommodating large step-down disturbances in bipedal robot walking. ICRA (2012)
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, J. W. Grizzle
A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL. Int. J. Robotics Res. 30 (9) (2011)
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, Jessy W. Grizzle
Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. CDC (2010)
Jeffrey Koncsol, Hae-Won Park, Koushil Sreenath
Real world issues with real-time control of MABEL: A platform for experimental control of bipedal locomotion. Humanoids (2010)
J. W. Grizzle, Jonathan W. Hurst, Benjamin Morris, Hae-Won Park, Koushil Sreenath
MABEL, a new robotic bipedal walker and runner. ACC (2009)