Faculty Profile

Hae-Won Park

Mechanical Science and Engineering
Hae-Won Park
Hae-Won Park
Assistant Professor
2144 Mechanical Engineering Lab
105 S. Mathews
Urbana Illinois 61801
(217) 244-6909

Primary Research Area

  • Dynamics & Controls

Education

  • Ph.D. Mechanical Engineering, University of Michigan 2012
  • M.S. Mechanical Engineering, Yonsei University 2007
  • B.S. Mechanical Engineering, Yonsei University 2005

Academic Positions

  • Assistant Professor, Department of Mechanical Science and Engineering, University of Illinois Urbana-Champaign, September 28, 2015-date
  • Research Scientist, Department of Mechanical Engineering, Massachusetts Institute of Technology, 2014-2015
  • Postdoctoral Associate, Department of Mechanical Engineering, Massachusetts Institute of Technology, 2012-2014
  • Graduate Research Assistant, Electrical Engineering and Computer Science, The University of Michigan, 2007-2012

For more information

Resident Instruction

  • Fall 2015, ME446/GE442/ECE489 - Robot Dynamics and Control

Research Interests

  • Control and design of dynamic robot systems
  • Legged locomotion robots including humanoids, quadrupedal robots, and human assistive devices
  • Bio-inspired robots

Research Areas

  • Dynamics & Controls
  • Health and Bio
  • Security and Defense
  • Transportation

Selected Articles in Journals

  • Park, H., P. Wensing, and S. Kim, "High-Speed Bounding with the MIT Cheetah 2: Control Design and Experiments," International Journal of Robotics Research, Accepted.
  • Park, H. and S. Kim, ￿Galloping Control for a Wide Range of Speed via Vertical Impulse Scaling,￿ Bioinsipiration & Biomimetics, vol. 10, no. 5, Mar 2015.
  • Park, H. and S. Kim, ￿The MIT Cheetah, an Electrically-powered Quadrupedal Robot for High-speed Running,￿ Journal of the Robotics Society of Japan, vol. 32, no. 4, pp. 323-328, May 2014.
  • Park, H., A. Ramezani, and J.W. Grizzle, ￿A Finite-state Machine for Accommodating Unexpected Large Ground Height Variations in Bipedal Robot Walking,￿ IEEE Transaction on Robotics, vol. 29, no. 2, pp. 331-345, Apr 2013.
  • Sreenath, K., H. 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, vol. 32, no. 3, pp. 324-345, Mar 2013.
  • Sreenath, K., H. Park, I. 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; vol. 30, no. 9, pp. 1170-1193, August 2011.
  • Park, H., K. Sreenath, J. W. Hurst, and J.W. Grizzle, ￿Identification of a Bipedal Robot with a Compliant Drivetrain: Parameter Estimation for Control Design,￿ IEEE Control Systems Magazine, vol. 31, no. 2, pp. 63-88, April 2011.

Articles in Conference Proceedings

  • Park, H., P. Wensing, and S. Kim, ￿Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds,￿ Robotics Science and Systems (RSS), 2015, Rome, Italy.
  • Park, H., S.Park, and S. 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), 2015, Seattle, WA.
  • Park, H., M. Y. Chuah, and S. Kim, ￿Quadruped Bounding Control with Variable Duty Cycle via Vertical Impulse Scaling,￿ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014, Chicago, IL, USA.
  • Park, H., K. Sreenath, A. Ramezani, and J. W. Grizzle, ￿Switching Control Design for Accommodating Large Step-down Disturbances in Bipedal Robot Walking,￿ International Conference on Robotics and Automation (ICRA), May 2012, pp. 45-50, St.Paul, MN, USA.
  • Sreenath, K., H.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), May 2012, pp. 51-56, St.Paul, MN, USA.
  • Sreenath, K., H. Park, I. 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, December 2010, pp. 280￿287, Atlanta, GA, USA.
  • Koncsol, J., H. Park, and K. 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, December 2010, pp. 659￿664, Nashville, TN, USA.
  • Grizzle, J. W., J. Hurst, B. Morris, H. Park, and K. Sreenath, ￿Mabel, A New Bipedal Walker and Runner,￿ American Control Conference, June 2009, pp. 2030￿2036, St. Louis, MO.