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Hae-Won Park
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A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on MABEL
K Sreenath, HW Park, I Poulakakis, JW Grizzle
The International Journal of Robotics Research 30 (9), 1170-1193, 2011
4162011
MABEL, a new robotic bipedal walker and runner
JW Grizzle, J Hurst, B Morris, HW Park, K Sreenath
2009 American Control Conference, 2030-2036, 2009
2252009
High-speed bounding with the MIT Cheetah 2: Control design and experiments
HW Park, PM Wensing, S Kim
The International Journal of Robotics Research 36 (2), 167-192, 2017
1872017
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL
K Sreenath, HW Park, I Poulakakis, JW Grizzle
The International Journal of Robotics Research 32 (3), 324-345, 2013
1712013
Variable-speed quadrupedal bounding using impulse planning: Untethered high-speed 3d running of mit cheetah 2
HW Park, S Park, S Kim
2015 IEEE International Conference on Robotics and Automation (ICRA), 5163-5170, 2015
1212015
A finite-state machine for accommodating unexpected large ground-height variations in bipedal robot walking
HW Park, A Ramezani, JW Grizzle
IEEE Transactions on Robotics 29 (2), 331-345, 2012
1162012
Online planning for autonomous running jumps over obstacles in high-speed quadrupeds
HW Park, PM Wensing, S Kim
1142015
Identification of a bipedal robot with a compliant drivetrain
HW Park, K Sreenath, JW Hurst, JW Grizzle
IEEE Control Systems Magazine 31 (2), 63-88, 2011
92*2011
Quadruped bounding control with variable duty cycle via vertical impulse scaling
HW Park, MY Chuah, S Kim
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2014
672014
Design and experimental implementation of a quasi-direct-drive leg for optimized jumping
Y Ding, HW Park
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
652017
Representation-free model predictive control for dynamic motions in quadrupeds
Y Ding, A Pandala, C Li, YH Shin, HW Park
IEEE Transactions on Robotics 37 (4), 1154-1171, 2021
582021
Real-time model predictive control for versatile dynamic motions in quadrupedal robots
Y Ding, A Pandala, HW Park
2019 International Conference on Robotics and Automation (ICRA), 8484-8490, 2019
562019
Switching control design for accommodating large step-down disturbances in bipedal robot walking
HW Park, K Sreenath, A Ramezani, JW Grizzle
2012 IEEE International Conference on Robotics and Automation, 45-50, 2012
492012
Quadrupedal galloping control for a wide range of speed via vertical impulse scaling
HW Park, S Kim
Bioinspiration & biomimetics 10 (2), 025003, 2015
472015
Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL
K Sreenath, HW Park, JW Grizzle
2012 IEEE International Conference on Robotics and Automation, 51-56, 2012
412012
qpSWIFT: A real-time sparse quadratic program solver for robotic applications
AG Pandala, Y Ding, HW Park
IEEE Robotics and Automation Letters 4 (4), 3355-3362, 2019
312019
Jumping over obstacles with MIT Cheetah 2
HW Park, PM Wensing, S Kim
Robotics and Autonomous Systems 136, 103703, 2021
272021
Real-time constrained nonlinear model predictive control on so (3) for dynamic legged locomotion
S Hong, JH Kim, HW Park
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020
192020
The MIT cheetah, an electrically-powered quadrupedal robot for high-speed running
HW Park, S Kim
日本ロボット学会誌 32 (4), 323-328, 2014
172014
Centroidal-momentum-based trajectory generation for legged locomotion
C Li, Y Ding, HW Park
Mechatronics 68, 102364, 2020
152020
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