Journal Papers

1. Galloping Control for a Wide Range of Speed via Vertical Impulse Scaling

Hae-Won Park, Sangbae Kim
Bioinsipiration & Biomimetics, accepted

2. The MIT Cheetah, an Electrically-powered Quadrupedal Robot for High-speed Running

Hae-Won Park, Sangbae Kim
Journal of the Robotics Society of Japan, vol. 32, no. 4, pp. 323-328, May 2014.

3. A Finite-state Machine for Accommodating Unexpected Large Ground Height Variations in Bipedal Robot Walking

Hae-Won Park, Alireza Ramezani, Jonathan W. Hurst and J.W. Grizzle
IEEE Transaction on Robotics, vol. 29, no. 2, pp. 331-345, Apr 2013.

4. Embedding Active Force Control within the Compliant Hybrid Zero Dynamics to Achieve Stable, Fast Running on MABEL

Koushil Sreenath, Hae-Won Park and J.W. Grizzle
International Journal of Robotics Research, vol. 32, no. 3, pp. 324-345, Mar 2013.

5. Identification of a Bipedal Robot with a Compliant Drivetrain: Parameter Estimation for Control Design

Hae-Won Park, Koushil Sreenath, Jonathan Hurst, and Jessy W. Grizzle,
IEEE Control Systems Magazine, 2011, 31(2): 63-88, April 2011.

6. A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL

Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis and J.W. Grizzle,
International Journal of Robotics Research, 30(9): 1170-1193, August 2011.

Conference Papers

1. Variable-speed Quadrupedal Bounding Using Impulse Planning: Untethered High-speed 3D Running of MIT Cheetah 2

Hae-Won Park, Sangin Park, Sangbae Kim
IEEE/RSJ International Conference on Robotics and Automation (ICRA), Submitted.

2. Quadruped Bounding Control with Variable Duty Cycle via Vertical Impulse Scaling

Hae-Won Park, Meng Yee (Michael) Chuah, Sangbae Kim
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, Sep. 2014.

3. Impulse-Based Gait Design and Control for Variable Speed Galloping on MIT Cheetah Robot

Hae-Won Park, Sangbae Kim
Dynamic Walking Conference, Pittsburgh, PA, USA, June 2013.

4. Switching Control Design for Accommodating Large Step-down Disturbances in Bipedal Robot Walking

Hae-Won Park, K. Sreenath, A. Ramezani, and J. W. Grizzle
International Conference on Robotics and Automation (ICRA), St.Paul, MN, USA, May 2012, pp. 45-50.

5. Design and Experimental Implementation of a Compliant Hybrid Zero Dynamics Controller with Active Force Control for Running on MABEL

K. Sreenath, H.-W. Park, and J. W. Grizzle
International Conference on Robotics and Automation (ICRA), St.Paul, MN, USA, May 2012, pp. 51-56.

6. Design and Experimental Implementation of a Compliant Hybrid Zero Dynamics Controller for Walking on MABEL

K. Sreenath, Hae-Won Park, I. Poulakakis, and J. W. Grizzle
IEEE Conference on Decision and Control, Atlanta, GA, USA, December 2010, pp. 280–287.

7. Real world issues with real-time control of mabel: A platform for experimental control of bipedal locomotion

J. Koncsol, Hae-Won Park, and K. Sreenath
IEEE-RAS International Conference on Humanoid Robots, Nashville, TN, USA, December 2010, pp. 659–664.

8. MABEL, a new robotic bipedal walker and runner

J. W. Grizzle, J. Hurst, B. Morris, Hae-Won Park, and K. Sreenath
American Control Conference, St. Louis, MO, USA, June 2009, pp. 2030–2036.

9. Straight Line Swimming Simulation and Experiment of Robotic Fish

Seok-Woo Kim, Hae-Won Park, Kang-Jin Cho, No-Cheol Park, Hyun-Suk Yang, Young-Pil Park
The Korean Society for precision Engineering Conference, 2008, pp. 569-570.

10. Development of a robot with fish locomotion

Kang-Jin Cho, Hae-Won Park, Seok-Woo Kim, Hyun-Suk Yang, Young-Pil Park, No-Cheol Park
The Korean Society for precision Engineering Conference, 2007, pp. 40-45.

11. Design of Tracked Vehicle with Passive Mechanism for Uneven Terrain

Hae-Won Park, Sung-Hyun Kim, No-Cheol Park, Hyun-Seok Yang, Young-Pil Park, Seung-Ho Kim, Yong-Heon Park, and Young-Hwan Kang
sice, pp. 3132-3136 SICE-ICASE International Joint Conference, 2006.

Invited Talks

1. Hae-Won Park Control Design for Bipedal Robot Walking on Uneven Ground and High-Speed Running of Quadruped Robot, Korea Institute of Science and Technology (KIST), Korea, Jan. 2013.

2. J. W. Grizzle, Hae-Won Park, and K. Sreenath Modeling, Feedback Control and Experimental Results for MABEL, a Planar Bipedal Robot, Control Seminar Series, University of Michigan, Ann Arbor, September 2010.
The second graduate student speaker in last 4 years.

Posters

1. Hae-Won Park and J. W. Grizzle, Control of Bipedal Walking on Uneven Terrain, The University of Michigan Engineering Graduate Student Symposium, 2010.

2. Hae-Won Park, Koushil Sreenath, Jonathan Hurst, and J. W. Grizzle, System Identification and Modeling of MABEL, A Bipedal Robot With a Cable-Differential-Based Compliant Drivetrain, Dynamic Walking Conference, July 2010.

3. Koushil Sreenath, Hae-Won Park, Jonathan Hurst, and J. W. Grizzle, Hybrid Zero Dynamics Based Control Design for Efficient Walking, Dynamic Walking Conference, July 2010.

4. Koushil Sreenath, Hae-Won Park, and J. W. Grizzle, Nonlinear Feedback Control of a Novel Robotic Bipedal Walker, The University of Michigan Engineering Graduate Student Symposium, 2009.

5. Hae-Won Park, Koushil Sreenath, and J. W. Grizzle, Parameter Identification of MABEL, a New Bipedal Robot with Differential-Based Compliant Drivetrain, The University of Michigan Engineering Graduate Student Symposium, 2009.
Second-place award in the poster presentation competition in the design & control session.

Theses

Hae-Won Park, Control of Bipedal Robot Walker on Rough Ground, Ph.D. Thesis, The University of Michigan, Ann Arbor, USA, 2012.

Hae-Won Park, Design, Analysis, and Experiment of a Dolphin Robot, M.S. Thesis, Yonsei University, Seoul, Korea, 2007.

Hae-Won Park, Design of a Small Size Six-Legged Walking Robot Using Electromagnet Actuators, B.S. Thesis, Yonsei University, Seoul, Korea, 2005.