Publications

— 2023 —

Invariant Smoother for Legged Robot State Estimation with Dynamic Contact Event Information
Ziwon Yoon *, Joon-Ha Kim *, and Hae-won Park
IEEE Transaction On Robotics, published online, 2023
*: These authors contributed equally
[Project page] [Paper]

Seamless Reaction Strategy for Bipedal Locomotion Exploiting Real-Time Nonlinear Model Predictive Control
JongHun Choe, Joon-Ha Kim, Seungwoo Hong, Jinoh Lee, and Hae-Won Park
IEEE Robotics and Automation Letters, published online, 2023
[Project page] [Paper]

Real Time Humanoid Footstep Planning With Foot Angle Difference Consideration for Cost-To-Go Heuristic
Joon-Ha Kim, Young-Ha Shin, Hyobin Jeong, Jun-Ho Oh, and Hae-Won Park
IEEE International Conference on Ubiquitous Robots (UR), 2023
[Project page] [Paper]

— 2022 —

Contact-Implicit Differential Dynamic Programming for Model Predictive Control with Relaxed Complementarity Constraints
Gijeong Kim, Dongyun Kang, Joon-Ha Kim, and Hae-Won Park
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
[Project page] [Paper]

DRPD, Compact Dual Reduction Ratio Planetary Drive for Actuators of Articulated Robots
Tae-Gyu Song, Young-Ha Shin, Seungwoo Hong, Hyungho Chris Choi, Joon-Ha Kim, and Hae-Won Park
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
[Project page] [Paper]

Design of KAIST HOUND, a Quadruped Robot Platform for Fast and Efficient Locomotion with Mixed-Integer Nonlinear Optimization of a Gear Train
Young-Ha Shin, Seungwoo Hong, Sangyoung Woo, JongHun Choe, Harim Son, Gijeong Kim, Joon-Ha Kim, KangKyu Lee, Jemin Hwangbo, and Hae-Won Park
IEEE International Conference on Robotics and Automation (ICRA), 2022
[Project page] [Paper]

Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control
Lorenzo Amatucci, Joon-Ha Kim, Jemin Hwangbo, and Hae-Won Park
IEEE International Conference on Robotics and Automation (ICRA), 2022
[Project page] [Paper]

STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor
Yeeun Kim, Byeongho Yu, Eungchang Mason Lee, Joon-Ha Kim, Hae-Won Park, and Hyun Myung
IEEE Robotics and Automation Letters, published online, 2022
[Project page] [Paper]

— 2021 —

Legged Robot State Estimation With Dynamic Contact Event Information
Joon-Ha Kim, Seungwoo Hong, Gwanghyeon Ji, Seunghun Jeon, Jemin Hwangbo, Jun-Ho Oh, and Hae-Won Park
IEEE Robotics and Automation Letters, published online, 2021
[Project page] [Paper]

— 2020 —

Real-Time Constrained Nonlinear Model Predictive Control on SO(3) for Dynamic Legged Locomotion
Seungwoo Hong, Joon-Ha Kim, and Hae-Won Park
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
IROS Best RoboCup Paper Award
[Project page] [Paper]

— 2019 —

Avoiding Obstacles During Push Recovery Using Real-Time Vision Feedback
Hyobin Jeong, Joon-Ha Kim, Okkee Sim, and Jun-Ho Oh
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
[Project page] [Paper]

Thesis

— M.Sc.Thesis —

Real time A* Adaptive Action Set Footstep Planning with Human Locomotion Energy Approximations Considering Angle Difference for Heuristic Function
Korea Advanced Institute of Science and Technology 2019
[Project page] [Thesis]

— Phd.Thesis —