Fall 2015, ME446/GE442/ECE489 - Robot Dynamics and Control
Control and design of dynamic robot systems
Legged locomotion robots including humanoids, quadrupedal robots, and human assistive devices
Dynamics & Controls
Health and Bio
Security and Defense
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
Yanran Ding and Hae-Won Park, "Design and Experimental Implementation of a Quasi-Direct-Drive Leg for Optimized Jumping", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Vancouver, Canada. Finalist, Best Student Paper Award
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. 280287, 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. 659664, 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. 20302036, St. Louis, MO.
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