Publications

Wonje Choi, Jongseok Won, Jimin Lee, and Jaeheung Park
Low stiffness design and hysteresis compensation torque control of SEA for active exercise rehabilitation robots
Autonomous Robots, July, 2016. (DOI) 10.1007/s10514-016-9591-z paper

Sumin Park and Jaeheung Park
Effect of Heel Height and Speed on Gait, and the Relationship Among the Factors and Gait Variables

대한인간공학회지 (Journal of the Ergonomics Society of Korea), Volume 35, Number 1, (2016.3), Page 39-52. paper

Seho Shin, Jonghoon Park, and Jaeheung Park
Explicit formulation of multibody dynamics based on principle of dynamical balance and its parallelization
Multibody System Dynamics, Vol.37, Issue 2, pp175-193, June, 2016. (DOI) 10.1007/s11044-016-9501-3 paper

Sanghyun Kim, Beomyeong Park, and Jaeheung Park
DRC Finals 2015 – 참가팀들의 결과분석
로봇과 인간, Vol. 12, No. 4, Oct, 2015.
paper

Yisoo Lee, Soonwook Hwang and Jaeheung Park
Balancing of Humanoid Robot using Contact Force/Moment Control by Task-Oriented Whole Body Control Framework.
Autonomous Robots, Vol. 40, Issue. 3, pp. 457-472, Mar, 2016. (DOI) 10.1007/s10514-015-9509-1 paper

Hyeonjun Park, Peter Ki Kim, Jaeheung Park, Ja-Ram Jang, Yong-Deuk Shin, Ji-Hun Bae, Jae-Han Park, and Moon-Hong Baeg
Robotic Peg-in-Hole Assembly by Hand Arm Coordination.
Journal of Korea Robotics Society, Vol. 10, Issue 1, pp. 42-51, March 2015. paper. best paper award

Chang Geun Oh, and Jaeheung Park
From Mechanical Metamorphosis to Empathic Interaction: A Historical Overview of Robotic Creatures.

Journal of Human-Robot Interaction, Vol. 3, No. 1, pp. 4-19, March 2014. paper

Hooman Lee, and Jaeheung Park
An Active Sensing Strategy for Contact Location without Tactile Sensors Using Robot Geometry and Kinematics. 

Autonomous Robots, Vol. 36, Issue 1-2, pp. 109-121, Jan 2014. paper

Hyeonjun Park, Jongseok Won, and Jaeheung Park
Improvement in the Control Performance of Instruments used for Minimally Invasive Surgery.
Journal of Institute of Control, Robotics and Systems, Vol. 19, Issue 12, pp. 1160-1166, Dec 2013. paper

Yongtae Kim, Jimin Lee, and Jaeheung Park 
Compliant Joint Actuator With Dual Spiral Springs. 
IEEE Transactions on Mechatronics, Vol. 18, Issue 6, Dec 2013, pp. 1839-1844. paper

Hyejin Han, and Jaeheung Park
Robot Control near Singularity and Joint Limit Using a Continuous Task Transition Algorithm. 

International Journal of Advanced Robotic Systems, Vol. 10, 346, 2013, paper

Jeongryul Kim, Jong-won Kim, Jaeheung Park and Jongwon Kim
Movement Analysis of Waist and Tail of Lizard for Controlling Yawing for Motion in Slow Trotting.

Journal of Institute of Control, Robotics and Systems, Vol. 19, No. 7, July 2013, pp. 620-625, paper

Minsung Kim, Mingon Kim, Sumin Park, Junghoon Kwon and Jaeheung Park
Feasibility Study of Gait Recognition Using Points in Three-Dimensional Space. 

International Journal of Fuzzy Logic and Intelligent Systems, Vol. 13, No. 2, June 2013, pp. 124-132, http://dx.doi.org/10.5391/IJFIS.2013.13.2.124. paper

Sumin Park, Minho Lee, and Jaeheung Park
The Relationship among Stride Parameters, Joint Angles, and Trajectories of the Body Parts during High-Heeled Walking of Woman. 

대한인간공학회지 (Journal of the Ergonomics Society of Korea), Volume 32, Number 3, (2013.6), Page 895-912. paper

Minho Lee, Kyogu Lee, and Jaeheung Park
Music similarity-based approach to generating dance motion sequence.
Multimedia Tools and Applications Volume 62, Issue 3 (2013.2), Page 895-912. paper

Jaemin Lee, Nicolas Mansard, and Jaeheung Park
Intermediate Desired Value Approach for Task Transition of Robots in Kinematic Control.
IEEE Transactions on Robotics 28(6) (2012.12). paper

Jaeheung Park
The relationship between controlled joint torque and end-effector force in underactuated robotic systems.
Robotica 29(4) (2011.07). paper

Vincent De Sapio and Jaeheung Park
Multitask Constrained Motion Control Using a Mass-Weighted Orthogonal Decomposition.
Journal of Applied Mechanics Vol.77 (2010.07). paper

Luis Sentis, Jaeheung Park and Oussama Khatib
Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots.
IEEE Transactions on Robotics Vol.26, No.3 (2010.06) 483-501.  paper

Jaeheung Park
Synthesis of natural arm swing motion in human bipedal walking.
Journal of Biomechanics Vol.41, No.7 (2008.05) 1417-1426. paper
Article about the paper:  Biomedical Computation Review, Summer 2008

Jaeheung Park and Oussama Khatib
Robot Multiple Contact Control.
Robotica Vol. 26, Issue 05 (2008.09) 667-677. paper

Jaeheung Park and Oussama Khatib
A Haptic Teleoperation Approach Based on Contact Force Control.
The International Journal of Robotics Research Vol.25, No.5-6 (2006.06) 575-591.  paper

Rui Cortesao, Jaeheung Park and Oussama Khatib
Real-Time Adaptive Control for Haptic Tele-Manipulation with Kalman Active Observers.
IEEE Transactions on Robotics Vol.22, No.5 (2006.10) 987-999.  paper

Jaeheung Park
Control Strategies for Robots in Contact.
Ph.D. Thesis at Stanford University, March 22th, 2006 thesis abstract  whole thesis

Jaeheung Park, and Oussama Khatib
Robust Haptic Teleoperation of a Mobile Manipulation Platform.
Experimental Robotics IX, Ang M. and Khatib, O.(Eds.), STAR Springer Tracts in Advanced Robotics Vol.21 (2006) 543-554.  paper

O. Khatib, L. Sentis, J. Park, and J. Warren.
Whole-body Dynamic Behavior and Control of Human-like Robots.
International Journal of Humanoid Robotics Vol.1, No.1 (2004.03) 29-43.  paper

J.-H. Park, and J.-H. Kim.
Dynamic Analysis of Rotating Curved Beam with a Tip Mass.
International Journal of Sound and Vibration Vol.228, Issue 5 (1999.12) 1017-1034  paper

Presentations

Jeeseop Kim, Mingon Kim, and Jaeheung Park
Improvement of Humanoid gait stability using reduction gear deformation model
The 31st Institute of Control, Robotics and Systems (ICROS), COEX, Korea, 10-11th March, 2016; paper, Best Paper Award

Wonje Choi and Jaeheung Park
Low Stiffness SEA Design for Use in Rehabilitation Robots for Active Exercises
International Conference on Robotics and Automation (Workshop), Stockholm, Sweden, 2016; paper

Seho Shin, Joohee Choi and Jaeheung Park
Development of Indoor-Outdoor Localization System using Multiple Model Adaptive Estimation for Autonomous Vehicle
The 11th Korea Robotics Society Annual Conference (KROC), Pyeongchang, Korea, 24th-27th Jan, 2016; paper

Sanghyun Kim, Mingon Kim, Jimin Lee, Soonwook Hwang, Joonbo Chae, Beomyeong Park, Hyunbum Cho, Jaehoon Sim, Jaesug Jung, Hosang Lee, Seho Shin, Minsung Kim, Nojun Kwak, Youngjin Lee, Sangkuk Lee, Myunggi Lee, Sang Yup Yi, Kyong-Sok K.C. Chang, and Jaeheung Park
Approach of Team SNU to the DARPA Robotics Challenge Finals
2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), KIST, Korea, 3rd-5th November, 2015; paper

Sanghyun Kim and Jaeheung Park
Control Strategies of Team SNU for DRC Finals, and Future Directions for Robots in Human Environment
Invited speaker at Workshop on “What did we do for the Darpa Robotics Challenge?”, 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), KIST, Korea, 3rd November, 2015;

Jaeheung Park
Balancing and Active Sensing using Whole-Body Control framework
Invited speaker at Workshop on “Whole-Body Multi-Task Multi-Contact Humanoid Control”, 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), KIST, Korea, 3rd November, 2015;

Jaeheung Park
Active sensing strategies for contact using constraints between the robot and environment
Invited speaker at Workshop on “Proprioceptive and Exteroceptive Data Fusion for State Estimation and Whole-Body Control of Humanoid Robots”, 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), KIST, Korea, 3rd November, 2015;

Beomyeong Park,  Hyunbum Cho, Wonjae Choi, and Jaeheung Park
Wall Cutting Strategy for Circular Hole Using Humanoid Robot
The 12th International Conference on Ubiquitous Robots and Ambient Intelligene (URAI), KINTEX, Korea, 28th-30th October, 2015; paper

Jaeheung Park
Control Strategies of Team SNU for DRC Finals, and Future Directions for Robots in Human Environment
Invited speaker at Workshop on “Special Workshop on DRC finals”, The 12th International Conference on Ubiquitous Robots and Ambient Intelligene (URAI), KINTEX, Korea, 30th October, 2015;

Mincheol Kim, Romain Destenay, Sanghyun Kim, Joungheum Kwon, Kiwon Yeom, Jaeheung Park, and Bum-jae You
Avatar Motion Generation by Null-Space Mapping Based on Minimum Number of Markers
2015 Conference on Information and Control Systems (CICS’ 15), Sokcho, Korea, 22th-24th October, 2015; paper

Jaeheung Park
Active sensing strategies for contact using constraints between the robot and environment
Invited speaker at Workshop on “multimodal sensor-based robot control for HRI and soft manipulation”, International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September, 28th, 2015;

Hyeonjun Park, Peter ki Kim, Ga-Ram Jang, Yong-Deuk Shin, Sung-Nam Oh, Ji-Hun Bae, Jae-Han Park, Moon-Hong Baeg, and Jaeheung Park
Compliance-based Control System of Humanoid Upper Body Robot : Objects Assembly Task
The 10th Korea Robotics Society Annual Conference (KROC), Daejeon, Korea, 6th-8th May, 2015; paper

De Hong Jung, Jaeheung Park, Mathew Schwartz
Towards On-Site Autonomous Robotic Floor Tiling of Mosaics
The 14th International Conference on Control, Automation, and Systems (ICCAS), KINTEX, Korea, 22th-25th Oct, 2014; Best Presentation Award

Seho Shin, Minsung Kim, and Jaeheung Park
Collision-Free Motion Planning based on Elastic Band Theory for Autonomous Driving.
The Korean Society of Automotive Engineers Annual Conference (KSAE), Nov. 19-22, 2014;

Mathew Schwartz, Soonwook Hwang, Yisoo Lee, Jongseok Won, Sanghyun Kim, and Jaeheung Park,
Aesthetic Design and Development of Humanoid Legged Robot.
The 2014 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014). November 18-20, 2014, Madrid, Spain. 2014.; paper

Mathew Schwartz, R. Frias, E. Dolgener Cantu, G. Stoffel Saul, and Jaeheung Park,
Humanoids ‘Performing’ Manufacturing.
in Proceedings of the 2014 Workshop on Humanoid Robots and Creativity at the 2014 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014). November 18, 2014, Madrid, Spain. 2014;paper

Jinkyu Yim, Minsung Kim, Seho Shin, and Jaeheung Park
Robust path planning for autonomous vehicle in position uncertainty.
The 11th International Conference on Ubiquitous Robots and Ambient Intelligene, Nov. 12-15, 2014; paper

Yeongmin Ha, Seho Shin, and Jaeheung Park
3D Registration of Multi-view Depth Data for Hand-Arm Pose Estimation.
The 11th International Conference on Ubiquitous Robots and Ambient Intelligene, Nov. 12-15, 2014; paper

Hyeonjun Park, Peter ki Kim, Ji-Hun Bae, Jae-Han Park, Moon-Hong Baeg, and Jaeheung Park
Dual Arm Peg-in-Hole Assembly with a Programmed Compliant System
The 11th International Conference on Ubiquitous Robots and Ambient Intelligene, Nov. 12-15, 2014; paper

Yongtae G. Kim, Manolo Garabini, Jaeheung Park, and Antonio Bicchi
Drum Stroke Variation using Variable Stiffness Actuators.
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 3892-3897, Chicago, U.S., Sept 18th, 2014.

Yisoo Lee, Hyeonjun Park, Ji-Hun Bae, Moon-Hong Baeg, and Jaeheung Park
Experimental Results of Whole-body Control Framework on Torque Controlled Humanoid Legged Robot and Dual Arm-Hand Manipulator.
at the Workshop “Whole-Body Control for Robots in the Real World”, International Conference on Intelligent Robots and Systems (IROS), Chicago, U.S., Sept 18th, 2014.

Soonwook Hwang and Jaeheung Park
Motion and Contact Reaction Force Control of a Quadruped Robot using Whole-body Control Framework
The 9th Korea Robotics Society Annual Conference (KROC), Buyeo, Korea, 19th-21th June, 2014;paper

Jimin Lee, Mingon Kim, Sanghyun Kim, and Jaeheung Park
Estimation of Hand Posture and Grasping Force Using Surface EMG
The 9th Korea Robotics Society Annual Conference (KROC), Buyeo, Korea, 19th-21th June, 2014;paper

Sanghyun Kim, Mingon Kim, and Jaeheung Park
Extracting Postural Synergies Using Grasping Taxonomy
The 9th Korea Robotics Society Annual Conference (KROC), Buyeo, Korea, 19th-21th June, 2014; paper

Hyeonjun Park, Peter ki Kim, Ji-Hun Bae, Jae-Han Park, Moon-Hong Baeg, and Jaeheung Park
Peg-in-Hole task using robot hand manipulation
The 9th Korea Robotics Society Annual Conference (KROC), Buyeo, Korea, 19th-21th June, 2014; paper; best paper award

Sanghyun Kim, Mingon Kim, Jimin Lee, and Jaeheung Park
Robot Hand Synergy Mapping Using Multi-factor Model and EMG signal
International Symposium on Experimental Robotics (ISER), Marrakech/Essaouira, Morroco, 15th-18th June, 2014; paper

Jaeheung Park
Synthesis and Control of Natural Human Walking.
Invited speaker at the Workshop “Latest Advances on Natural Motion Understanding and Human Motion Synthesis”, International Conference on Robotics and Automation (ICRA), Hong Kong, China, May 31st, 2014.

Chang Geun Oh, and Jaeheung Park
From Mechanical Metamorphosis to Empathic Interaction: A Historical Overview of Robotic Creatures.

ACM/IEEE Interantional Conference on Human-Robot Interaction, 3rd-7th March 2014, CITEC, Bielefeld University, Germany;
paper link

Sanghyun Kim, Jimin Lee, Mingon Kim, and Jaeheung Park
Teleoperated Robot Hand Control using Tensor Decomposition
Full-day Tutorial on Robotics-based Methods for the Identification, Recognition, and Synthesis of Human Motions,
IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, 3rd November 2013; paper

Peter Ki Kim, Ji-Hun Bae, Jae-Han Park, Moon-Hong Baeg, Jaeheung Park
Control Strategy for Simultaneously Inserting Multiple Boxes with Dual Arm Manipulator
2013 10th International Conference on Ubiquitous Robotis and Ambient Intelligence, Jeju, Korea; paper

Jimin Lee, Joowan Kim, and Jaeheung Park
Classification Of Grip Configuration Using Surface EMG.
2013 13th International Conference on Control, Automation and Systems, Oct. 20-23, 2013 in Kimdaejung convention center, Gwangju, Korea; paper

Yisoo Lee and Jaeheung Park 
Velocity Tracking Algorithm in Forward Walking using Estimated ZMP by Whole-Body Control Framework.
IEEE-RAS international conference on humanoid robots 2013, Oct. 15-17, 2013, Atlanta, USA; paper

Hyeonjun Park, Ji-Hun Bae, Jae-Han Park, Moon-Hong Baeg, and Jaeheung Park 
Intuitive Peg-in-hole Assembly Strategy with a Compliant Manipulator 
International Symposium on Robotics (ISR), Oct.24-26, 2013, seoul, Korea; paper

Chang Geun Oh and Jaeheung Park 
The Kinetic Xylophone: An Interactive Musical Instrument Embedding Motorized Mallets 
International Symposium on Human-Robot Interactive Communication (Ro-Man) Aug. 26th-29th, 2013, Gyeongju, Korea;  video paper, video file.

Hyeonjun Park, Peter ki Kim, Ji-Hun Bae, Jae-Han Park, Moon-Hong Baeg, Sung-Woo Park, and Jaeheung Park
Intuitive Peg-in-Hole Assembly by a Compliant Manipulator
The 8th Korea Robotics Society Annual Conference (KROC), chuncheon, Korea, 31th May, 2013; paper

Jaeheung Park
Active Sensing Strategies For Contact With Compliant Whole-Bobdy Control Framework.
Invited speaker at the Workshop “Whole-body Compliant Dynamical Contacts for Humanoid Robotics”, International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 10th, 2013.

Chang Geun Oh and Jaeheung Park 
Digital Kinetic Art: A Bridge Across the Uncanny Valley of Robotic Art 
Speaker at the Workshop “Art and Robotics-Freud’s Unheimlich and the Uncanny Valley”, International Conference on Robotics and Automation (ICRA) 2013, Karlsruhe, Germany;  workshop paper, presentaion slides.

Hyejin Han, Jaemin Lee, and Jaeheung Park 
A Continuous Task Transition Algorithm for Operational Space Control Framework.
International Conference on Ubiquitous Robots and Ambient Intelligence(URAI), Daejeon, Korea, 2012. paper

Yongtae Kim, Changyong Song, and Jaeheung Park
Development of Actuation System for Wearable Robots using Spiral Spring.
2012 12th International Conference on Control, Automation and Systems, Oct. 17-21, 2012 in ICC, Jeju Island, Korea. paper

Sumin Park, Minho Lee, and Jaeheung Park
How to generate natural female walking with high heels?
Dynamic Walking, Pensacola, USA, 2012. paper

Minsung Kim, Jaeheung Park, and Junghoon Kwon
The Research of 2D GEI using Motion Capture Data.
Human Computer Interaction Conference, pyeongchang, Korea, 2012. paper

Peter K. Kim, Yisoo Lee, and Jaeheung Park
Twisting Door Handle with Manipulator Under Uncertainty.
International Conference on Ubiquitous Robots and Ambient Intelligence, Inchon, Korea, 2011. paper

Seho Shin, Yisoo Lee, and Jaeheung Park
Implementation of Torque-based Control on Industrial Robot for Human-Robot Cooperation.
International Symposium on Advanced Intelligent Systems, Suwon, Korea, 2011. paper

Jaemin Lee, Nicolas Mansard, and Jaeheung Park
Intermediate Desired Value Approach for Continuous Transition among Multiple Tasks of Robots.
International Conference on Robotics and Automation, Shanghai, China, 2011. paper

Yoonho Na and Jaeheung Park
Statistical Indices for Inertial Properties of Haptic Devices.
International Conference on Ubiquitous Robots and Ambient Intelligence, Busan, Korea, 2010. paper

Hooman Lee and Jaeheung Park
Active Sensing Strategy for Contact Location Using Robot Kinematics and Geometry.
International Conference on Ubiquitous Robots and Ambient Intelligence, Busan, Korea, 2010. paper

Francois Conti, Jaeheung Park, and Oussama Khatib
Interface Design and Control Strategies for a Robot Assisted Ultrasonic Examination System.
International Symposium on Experimental Robotics, New Delhi, India, 2010. paper

Luis Sentis, Jaeheung Park and Oussama Khatib
Modeling and Control of Multi-Contact Centers of Pressure and Internal Forces in Humanoid Robots.
International Conference on Intelligent Robots and Systems, St. Louis, USA, 11-15 October 2009. paper

Taizo Yoshikawa, Jaeheung Park, and Oussama Khatib
The Torque to Position Transformer: A Framework for Compliant Motion Control of Industrial Position-Controlled Robots.
International Symposium on Robotics, Seoul, Korea, Oct 2008.

Oussama Khatib, Peter Thaulad, Taizo Yoshikawa, and Jaeheung Park
Torque-Position Transformer for Task Control of Position Controlled Robots.
International Conference on Robotics and Automation, Pasadena, California, USA, 19-23 May 2008. paper

I. Sardellitti, J. Park, D. Shin, and O. Khatib.
Air Muscle Controller Design in the Distributed Macro-Mini (DM2) Actuation Approach.
International Conference on Intelligent Robots and Systems, San Diego, California, October 2007. paper

J. Park, O. Khatib.
Contact Consistent Control Framework for Humanoid Robots.
International Conference on Robotics and Automation, presented at Orlando, Florida, 15-19 May 2006. paper

Jaeheung Park
Constrained motion strategies for robotic systems
Ph.D. Defense at Stanford University, May 25th, 2005. presentation presentation with movies (300MB)

J. Park, O. Khatib.
Multi-Link Multi-Contact Force Control for Manipulators.
International Conference on Robotics and Automation, presented at Barcelona, Spain, 18-22 Apr 2005. paper movie

J. Park, O. Khatib.
Robust Haptic Teleoperation of a Mobile Manipulation Platform..
International Symposium on Experimental robotics, Singapore, 18-21 Jun 2004. paper presentation movie: experiments movie: setting a dinner table

R. Cortesao, J. Park, O. Khatib.
Model-Reference Adaptive Control for Haptic Teleopresence.
IMS International Forum, Global Challenges in Manufacturing, Part I, pp.540-547, Villa Erba, Gernobbio, Italy, 17-19 May 2004.

J. Park, R. Cortesao, O. Khatib.
Multi-Contact Compliant Motion Control for Robotic Manipulators.
International Conference on Robotics and Automation, New Orleans, LA., U.S.A., 26 Apr – 1 May 2004. paper presentation movie: results movie: different angles movie: with/without noise adaptation 

R. Cortesao, J. Park, O. Khatib.
Real-Time Adaptive Control for Haptic Manipulation with Active Observers.
International Conference on Intelligent Robots and Systems, pp.2938-2943, Las Vegas, Nevada, U.S.A., 27-31 Oct 2003. paper

J. Park, R. Cortesao, O. Khatib.
Robust and Adaptive Teleoperation for compliant motion tasks.
International Conference on Advanced Robotics, pp.513-519, Portugal, Jun 2003. paper movie: haptic teleoperation