Search Results - "Hae Won Park"

Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds by Ding, Yanran, Pandala, Abhishek, Li, Chuanzheng, Shin, Young-Ha, Park, Hae-Won

“…This article presents a novel representation-free model predictive control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in…”
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A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL by Sreenath, Koushil, Park, Hae-Won, Poulakakis, Ioannis, Grizzle, J W

“…The planar bipedal testbed MABEL contains springs in its drivetrain for the purpose of enhancing both energy efficiency and agility of dynamic locomotion…”
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Invariant Smoother for Legged Robot State Estimation With Dynamic Contact Event Information by Yoon, Ziwon, Kim, Joon-Ha, Park, Hae-Won

“…This article proposes an invariant smoother for legged robot state estimation with the measurement of an inertial measurement unit and leg kinematics while…”
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Energy-Efficient Hydraulic Pump Control for Legged Robots Using Model Predictive Control by Cho, Buyoun, Kim, Sung-Woo, Shin, Seunghoon, Oh, Jun-Ho, Park, Hyung-Soon, Park, Hae-Won

“…Hydraulic actuating system exhibits potential for legged robots to achieve highly agile dynamic movement because of their high power-to-weight ratio. However,…”
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qpSWIFT: A Real-Time Sparse Quadratic Program Solver for Robotic Applications by Pandala, Abhishek Goud, Ding, Yanran, Park, Hae-Won

“…In this letter, we present qpSWIFT, a real-time quadratic program (QP) solver. Motivated by the need for a robust embedded QP solver in robotic applications,…”
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Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL by Sreenath, Koushil, Park, Hae-Won, Poulakakis, Ioannis, Grizzle, JW

“…A mathematical formalism for designing running gaits in bipedal robots with compliance is introduced and subsequently validated experimentally on MABEL, a…”
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A Finite-State Machine for Accommodating Unexpected Large Ground-Height Variations in Bipedal Robot Walking by Hae-Won Park, Ramezani, A., Grizzle, J. W.

“…This paper presents a feedback controller that allows MABEL, which is a kneed planar bipedal robot with 1-m-long legs, to accommodate terrain that presents…”
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Design and experimental implementation of a quasi-direct-drive leg for optimized jumping by Yanran Ding, Hae-Won Park

“…This paper introduces a novel method for actuator design that exploits electromagnetic motors' torque and speed potential in jumping applications. We proposed…”
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Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion by Youm, Donghoon, Jung, Hyunyoung, Kim, Hyeongjun, Hwangbo, Jemin, Park, Hae-Won, Ha, Sehoon

“…Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This…”
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STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor by Kim, Yeeun, Yu, Byeongho, Lee, Eungchang Mason, Kim, Joon-ha, Park, Hae-won, Myung, Hyun

“…Wepropose a novel state estimator for legged robots, STEP , achieved through a novel preintegrated foot velocity factor. In the preintegrated foot velocity…”
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Legged Robot State Estimation With Dynamic Contact Event Information by Kim, Joon-Ha, Hong, Seungwoo, Ji, Gwanghyeon, Jeon, Seunghun, Hwangbo, Jemin, Oh, Jun-Ho, Park, Hae-Won

“…This letter presents a state estimation algorithm for the legged robot by defining the problem as a Maximum A Posteriori (MAP) estimation problem and solving…”
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Seamless Reaction Strategy for Bipedal Locomotion Exploiting Real-Time Nonlinear Model Predictive Control by Choe, JongHun, Kim, Joon-Ha, Hong, Seungwoo, Lee, Jinoh, Park, Hae-Won

“…This letter presents a reactive locomotion method for bipedal robots enhancing robustness and external disturbance rejection performance by seamlessly…”
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Force Control of a Hydraulic Actuator With a Neural Network Inverse Model by Kim, Sung-Woo, Cho, Buyoun, Shin, Seunghoon, Oh, Jun-Ho, Hwangbo, Jemin, Park, Hae-Won

“…In this study, a learning-based force controller for a hydraulic actuator is presented. We propose a control method with an inverse model composed of a deep…”
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Design of Anti-Skid Foot With Passive Slip Detection Mechanism for Conditional Utilization of Heterogeneous Foot Pads by Park, Jaejun, Kong, Do Hun, Park, Hae-Won

“…This letter introduces a novel anti-skid foot design consisting of two different types of foot pads, a cylindrical foot covered with rubber and a complementary…”
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Pavement Condition Index Model for Mechanistic–Empirical Design of Airport Concrete Pavements Considering Environmental Effects by Park, Hae-Won, Kim, Jong Myung, Lee, Jae Hoon, Lee, Dae Sik, Jeong, Jin-Hoon

“…A transfer function is the main model of a design program that correlates mechanistically calculated damage to a pavement with the actual field distress. In…”
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Effects of Mixture Proportions and Levels of Vibration on the Physical Characteristics and Durability of Concrete Used in Korean Pavements by Yum, Woo Sung, Bae, Ha Eun, Park, Hae-Won, Jeong, Jin Hoon

“…This study investigated the effects of mixture proportions and vibration levels on the physical properties, durability and performance of concrete used in…”
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High-speed bounding with the MIT Cheetah 2: Control design and experiments by Park, Hae-Won, Wensing, Patrick M, Kim, Sangbae

“…This paper presents the design and implementation of a bounding controller for the MIT Cheetah 2 and its experimental results. The paper introduces the…”
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Personal Narratives in Technology Design: The Value of Sharing Older Adults' Stories in the Design of Social Robots by Ostrowski, Anastasia K, Harrington, Christina N, Breazeal, Cynthia, Park, Hae Won

“…The storytelling lens in human-computer interaction has primarily focused on personas, design fiction, and other stories crafted by designers, yet informal…”
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Prediction of differential drying shrinkage of airport concrete pavement slabs by Park, Hae-Won, Kim, Dong-Hyuk, Lim, Jin-Sun, Shim, Cha-Sang, Jeong, Jin-Hoon

“…In this study, strain gages were installed at the centre, edge, and corner of concrete pavement slabs of Incheon International Airport based on the slab depth,…”
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Jumping over obstacles with MIT Cheetah 2 by Park, Hae-Won, Wensing, Patrick M., Kim, Sangbae

“…This paper presents a planning framework for jumping over obstacles with quadruped robots. The framework accomplishes planning via a structured predictive…”
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