Publications

@article{Khatib2004,
title = {Whole-body Dynamic Behavior and Control of Human-like Robots. },
author = {O. Khatib and L. Sentis and J. Park and J. Warren. },
url = {http://ai.stanford.edu/~park73/papers/Jaeheung-IJHR2004.pdf, Paper},
year = {2004},
date = {2004-03-15},
journal = {International Journal of Humanoid Robotics },
volume = {1},
number = {1},
pages = {29-43, Mar},
abstract = {With the increasing complexity of humanoid mechanisms and their desired capabilities, there is a pressing need for a generalized framework where a desired whole-body motion behavior can be easily specified and controlled. Our hypothesis is that human motion results from simultaneously performing multiple objectives in a hierarchical manner, and we have analogously developed a prioritized, multiple-task control framework. The operational space formulation10 provides dynamic models at the task level and structures for decoupled task and posture control.13 This formulation allows for posture objectives to be controlled without dynamically interfering with the operational task. Achieving higher
performance of posture objectives requires precise models of their dynamic behaviors. In this paper we complete the picture of task descriptions and whole-body dynamic control by establishing models of the dynamic behavior of secondary task objectives within the posture space. Using these models, we present a whole-body control framework that decouples the interaction between the task and postural objectives and compensates for the dynamics in their respective spaces.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Park1999,
title = {Dynamic Analysis of Rotating Curved Beam with a Tip Mass.},
author = {J.-H. Park and J.-H. Kim. },
url = {http://dyros.cafe24.com/paper/IJSV1999.pdf, Paper},
year = {1999},
date = {1999-12-15},
journal = {International Journal of Sound and Vibration},
volume = {228},
number = {5},
pages = {1017-1034, Dec},
abstract = {The dynamic characteristics of a rotating curved beam are investigated. The equations of motion include all dynamic e!ects such as Coriolis force, centrifugal force and acceleration. The analysis of the rotating beam takes into account the coupling between rigid-body motion and elastic deformation, such that geometrically non-linear e!ects are included in the model. For dynamic analysis, the time responses for accelerating motion and torque-driven motion are calculated. The natural frequencies for curved beams of various radii of curvature are then calculated as the rotating speed increases. This study mainly discussed the e!ect of curvature that can change the characteristics of the beam. The e!ects of tip mass on the dynamic response of the beam are also studied.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@misc{Park2004b,
title = {Multi-Contact Compliant Motion Control for Robotic Manipulators.},
author = {J. Park and R. Cortesao and O. Khatib.},
url = {http://ai.stanford.edu/~park73/papers/Jaeheung-ICRA2004.pdf, paper
http://ai.stanford.edu/~park73/presentations/Jaeheung-ICRA2004-presentation.pdf, presentation
http://ai.stanford.edu/~park73/presentations/multi_result_small.mov, movie: results
http://ai.stanford.edu/~park73/presentations/multi_second_small.mov, movie: different anlges
http://ai.stanford.edu/~park73/presentations/multi_bad_small.mov, movie: with/without noise adaptation},
year = {2004},
date = {2004-05-01},
address = {International Conference on Robotics and Automation, New Orleans, LA., U.S.A.},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}

@misc{Cortesao2003,
title = {Real-Time Adaptive Control for Haptic Manipulation with Active Observers.},
author = {R. Cortesao and J. Park and O. Khatib.},
url = {http://ai.stanford.edu/~park73/papers/Jaeheung-IROS2003.pdf, paper},
year = {2003},
date = {2003-10-31},
pages = {pp.2938-2943},
address = {International Conference on Intelligent Robots and Systems, pp.2938-2943, Las Vegas, Nevada, U.S.A.},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}

@misc{Park2003,
title = {Robust and Adaptive Teleoperation for compliant motion tasks.},
author = {J. Park and R. Cortesao and O. Khatib.},
url = {http://ai.stanford.edu/~park73/papers/Jaeheung-ICAR2003.pdf, paper
http://ai.stanford.edu/~park73/presentations/HapticsGood.WMV, movie: haptic teleoperation},
year = {2003},
date = {2003-06-15},
pages = {pp.513-519},
address = {International Conference on Advanced Robotics, pp.513-519, Portugal, Jun 2003},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}

@misc{이해성2020,
title = {조립형 가구의 다양한 부품 조립을 위한 동작 모듈의 설계},
author = {이해성, 이상엽, 백지영, 박재흥},
url = {http://dyros.snu.ac.kr/wp-content/uploads/2020/05/20200529_081453.pdf},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}

@misc{Park2020bb,
title = {Keynote: Compliant Motion Control of Humanoid Robots for Real-World Applications},
author = {Jaeheung Park},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}