Journal |
Jaeheung Park Control Strategies for Robots in Contact. Journal Ph.D. Thesis at Stanford University, pp. Mar, 2006. @article{Park2006b, title = {Control Strategies for Robots in Contact. }, author = {Jaeheung Park }, url = {http://ai.stanford.edu/~park73/papers/Jaeheung-thesis.pdf, Paper}, year = {2006}, date = {2006-03-22}, journal = {Ph.D. Thesis at Stanford University}, pages = {Mar}, abstract = {In the field of robotics, there is a growing need to provide robots with the ability to interact with complex and unstructured environments. Operations in such environments pose significant challenges in terms of sensing, planning, and control. In particular, it is critical to design control algorithms that account for the dynamics of the robot and environment at multiple contacts. The work in this thesis focuses on the development of a control framework that addresses these issues. The approaches are based on the operational space control framework and estimation methods. By accounting for the dynamics of the robot and environment, modular and systematic methods are developed for robots interacting with the environment at multiple locations. The proposed force control approach demonstrates high performance in the presence of uncertainties. Building on this basic capability, new control algorithms have been developed for haptic teleoperation, multi-contact interaction with the environment, and whole body motion of non-fixed based robots. These control strategies have been experimentally validated through simulations and implementations on physical robots. The results demonstrate the effectiveness of the new control structure and its robustness to uncertainties. The contact control strategies presented in this thesis are expected to contribute to the needs in advanced controller design for humanoid and other complex robots interacting with their environments. }, keywords = {}, pubstate = {published}, tppubtype = {article} } In the field of robotics, there is a growing need to provide robots with the ability to interact with complex and unstructured environments. Operations in such environments pose significant challenges in terms of sensing, planning, and control. In particular, it is critical to design control algorithms that account for the dynamics of the robot and environment at multiple contacts. The work in this thesis focuses on the development of a control framework that addresses these issues. The approaches are based on the operational space control framework and estimation methods. By accounting for the dynamics of the robot and environment, modular and systematic methods are developed for robots interacting with the environment at multiple locations. The proposed force control approach demonstrates high performance in the presence of uncertainties. Building on this basic capability, new control algorithms have been developed for haptic teleoperation, multi-contact interaction with the environment, and whole body motion of non-fixed based robots. These control strategies have been experimentally validated through simulations and implementations on physical robots. The results demonstrate the effectiveness of the new control structure and its robustness to uncertainties. The contact control strategies presented in this thesis are expected to contribute to the needs in advanced controller design for humanoid and other complex robots interacting with their environments. |
Jaeheung Park,, Oussama Khatib Robust Haptic Teleoperation of a Mobile Manipulation Platform. Journal Experimental Robotics IX, Ang M. and Khatib, O.(Eds.), STAR Springer Tracts in Advanced Robotics, 21 , pp. 543-554, Mar, 2006. @article{Park2006b, title = {Robust Haptic Teleoperation of a Mobile Manipulation Platform.}, author = {Jaeheung Park, and Oussama Khatib }, url = {http://ai.stanford.edu/~park73/papers/Jaeheung-Springer-Tracts.pdf, Paper}, year = {2006}, date = {2006-03-09}, journal = {Experimental Robotics IX, Ang M. and Khatib, O.(Eds.), STAR Springer Tracts in Advanced Robotics}, volume = {21}, pages = {543-554, Mar}, abstract = {This paper presents a new teleoperation scheme for mobile manipulation systems. A virtual spring connects a master and slave system where local force feedback on the slave system compensates for the dynamics of the mobile manipulator. This scheme is robust in the presence of time delays and disturbances and provides good tele-presence. The slave manipulator is mounted on a mobile base and controlled within the operational space framework. In this framework, the redundancy of the mobile manipulation system is addressed through a decoupled decomposition of task and posture dynamics.}, keywords = {}, pubstate = {published}, tppubtype = {article} } This paper presents a new teleoperation scheme for mobile manipulation systems. A virtual spring connects a master and slave system where local force feedback on the slave system compensates for the dynamics of the mobile manipulator. This scheme is robust in the presence of time delays and disturbances and provides good tele-presence. The slave manipulator is mounted on a mobile base and controlled within the operational space framework. In this framework, the redundancy of the mobile manipulation system is addressed through a decoupled decomposition of task and posture dynamics. |
O. Khatib, L. Sentis, J. Park, J. Warren. Whole-body Dynamic Behavior and Control of Human-like Robots. Journal International Journal of Humanoid Robotics , 1 (1), pp. 29-43, Mar, 2004. @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} } 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. |
J.-H. Park, J.-H. Kim. Dynamic Analysis of Rotating Curved Beam with a Tip Mass. Journal International Journal of Sound and Vibration, 228 (5), pp. 1017-1034, Dec, 1999. @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} } 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. |
Conference/Workshop |
J. Park, O. Khatib. Contact Consistent Control Framework for Humanoid Robots. Conference/Workshop International Conference on Robotics and Automation, presented at Orlando, Florida, 19.05.2006. @misc{Park2006, title = {Contact Consistent Control Framework for Humanoid Robots.}, author = {J. Park and O. Khatib.}, year = {2006}, date = {2006-05-19}, address = {International Conference on Robotics and Automation, presented at Orlando, Florida}, abstract = {http://ai.stanford.edu/~park73/papers/Jaeheung-ICRA2006.pdf, paper}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } http://ai.stanford.edu/~park73/papers/Jaeheung-ICRA2006.pdf, paper |
Kyoobin Lee, Jaeheung Park, Oussama Khatib, Dong-Soo Kwon Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobile Robot Conference/Workshop Monterey, California, USA, 26.09.2005. @misc{Lee2005b, title = {Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobile Robot}, author = {Kyoobin Lee, Jaeheung Park, Oussama Khatib, Dong-Soo Kwon}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2020/02/Feedforward-Global-Inertial-Sensor-Fusion-Algorithm-for-Accurate.pdf}, year = {2005}, date = {2005-09-26}, booktitle = {Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobile Robot}, journal = {2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.}, address = {Monterey, California, USA}, abstract = { This paper introduces a coordinate transform method for global/inertial sensor fusion minimizing modification of an existing control program of a mobile robot. Most of GPS/INS sensor fusion algorithms use Kalman filters and modify the INS states by feedback loops. Because the structure of the proposed method has a feedforward filter, the proposed method has an advantage in case the user does not want to change an existing control program of mobile robot. The feedback type Kalman filter is designed so that the error between global position from GPS and odometry from INS converges to zero. Therefore the coordinate matching between the odometry and measured global position is not necessary in those approaches. However, in the feedforward structure described in this paper, the errors gradually increase over time. A coordinate transform method has been developed for dealing with the error. This method provides an easy way to make an add-on function without any changes in the existing functions of the control program of a mobile robot. }, keywords = {}, pubstate = {published}, tppubtype = {presentation} } This paper introduces a coordinate transform method for global/inertial sensor fusion minimizing modification of an existing control program of a mobile robot. Most of GPS/INS sensor fusion algorithms use Kalman filters and modify the INS states by feedback loops. Because the structure of the proposed method has a feedforward filter, the proposed method has an advantage in case the user does not want to change an existing control program of mobile robot. The feedback type Kalman filter is designed so that the error between global position from GPS and odometry from INS converges to zero. Therefore the coordinate matching between the odometry and measured global position is not necessary in those approaches. However, in the feedforward structure described in this paper, the errors gradually increase over time. A coordinate transform method has been developed for dealing with the error. This method provides an easy way to make an add-on function without any changes in the existing functions of the control program of a mobile robot. |
Kyoobin Lee, Jaeheung Park, Oussama Khatib,, Dong-Soo Kwon Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobil Robot Conference/Workshop IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, USA, 25.07.2005. @misc{Lee2005, title = {Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobil Robot}, author = {Kyoobin Lee, Jaeheung Park, Oussama Khatib, and Dong-Soo Kwon}, url = {http://dyros.snu.ac.kr/wp-content/uploads/2020/02/untitled.pdf}, year = {2005}, date = {2005-07-25}, address = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, USA}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
Jaeheung Park Constrained motion strategies for robotic systems Conference/Workshop Ph.D. Defense at Stanford University, 25.05.2005. @misc{Park2005, title = {Constrained motion strategies for robotic systems}, author = {Jaeheung Park}, url = {http://ai.stanford.edu/~park73/presentations/defense-2.pdf, presentation http://ai.stanford.edu/groups/manips/files/Jaeheung-Park-defense.zip, presentation with movies (300MB)}, year = {2005}, date = {2005-05-25}, address = {Ph.D. Defense at Stanford University}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
J. Park, O. Khatib. Multi-Link Multi-Contact Force Control for Manipulators. Conference/Workshop International Conference on Robotics and Automation, presented at Barcelona, Spain, 22.04.2005. @misc{Park2005b, title = {Multi-Link Multi-Contact Force Control for Manipulators.}, author = {J. Park and O. Khatib.}, url = {http://ai.stanford.edu/~park73/papers/Jaeheung-ICRA2005.pdf, paper http://ai.stanford.edu/~park73/presentations/multi-link.avi, movie}, year = {2005}, date = {2005-04-22}, address = {International Conference on Robotics and Automation, presented at Barcelona, Spain}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
J. Park, O. Khatib. Robust Haptic Teleoperation of a Mobile Manipulation Platform.. Conference/Workshop International Symposium on Experimental robotics, Singapore, 21.06.2004. @misc{Park2004, title = {Robust Haptic Teleoperation of a Mobile Manipulation Platform..}, author = {J. Park and O. Khatib.}, year = {2004}, date = {2004-06-21}, address = {International Symposium on Experimental robotics, Singapore}, abstract = {http://ai.stanford.edu/~park73/papers/Jaeheung-ISER2004.pdf, paper http://ai.stanford.edu/~park73/presentations/iser2004-exp-low.mov, movie: experiments http://ai.stanford.edu/~park73/presentations/dinnertable-low.mov, movie: setting a dinner table}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } http://ai.stanford.edu/~park73/papers/Jaeheung-ISER2004.pdf, paper http://ai.stanford.edu/~park73/presentations/iser2004-exp-low.mov, movie: experiments http://ai.stanford.edu/~park73/presentations/dinnertable-low.mov, movie: setting a dinner table |
R. Cortesao, J. Park, O. Khatib. Model-Reference Adaptive Control for Haptic Teleopresence. Conference/Workshop IMS International Forum, Global Challenges in Manufacturing, Part I, pp.540-547, Villa Erba, Gernobbio, Italy, 19.05.2004. @misc{Cortesao2004, title = {Model-Reference Adaptive Control for Haptic Teleopresence.}, author = {R. Cortesao and J. Park and O. Khatib.}, year = {2004}, date = {2004-05-19}, pages = {pp.540-547}, address = {IMS International Forum, Global Challenges in Manufacturing, Part I, pp.540-547, Villa Erba, Gernobbio, Italy}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
J. Park, R. Cortesao, O. Khatib. Multi-Contact Compliant Motion Control for Robotic Manipulators. Conference/Workshop International Conference on Robotics and Automation, New Orleans, LA., U.S.A., 01.05.2004. @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} } |
R. Cortesao, J. Park, O. Khatib. Real-Time Adaptive Control for Haptic Manipulation with Active Observers. Conference/Workshop International Conference on Intelligent Robots and Systems, pp.2938-2943, Las Vegas, Nevada, U.S.A., 31.10.2003. @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} } |
J. Park, R. Cortesao, O. Khatib. Robust and Adaptive Teleoperation for compliant motion tasks. Conference/Workshop International Conference on Advanced Robotics, pp.513-519, Portugal, Jun 2003, 15.06.2003. @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} } |
이해성, 이상엽, 백지영, 박재흥 조립형 가구의 다양한 부품 조립을 위한 동작 모듈의 설계 Conference/Workshop 30.11.-0001. @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} } |
Jaeheung Park Keynote: Compliant Motion Control of Humanoid Robots for Real-World Applications Conference/Workshop 30.11.-0001. @misc{Park2020bb, title = {Keynote: Compliant Motion Control of Humanoid Robots for Real-World Applications}, author = {Jaeheung Park}, keywords = {}, pubstate = {published}, tppubtype = {presentation} } |
Journal |
Control Strategies for Robots in Contact. Journal Ph.D. Thesis at Stanford University, pp. Mar, 2006. |
Robust Haptic Teleoperation of a Mobile Manipulation Platform. Journal Experimental Robotics IX, Ang M. and Khatib, O.(Eds.), STAR Springer Tracts in Advanced Robotics, 21 , pp. 543-554, Mar, 2006. |
Whole-body Dynamic Behavior and Control of Human-like Robots. Journal International Journal of Humanoid Robotics , 1 (1), pp. 29-43, Mar, 2004. |
Dynamic Analysis of Rotating Curved Beam with a Tip Mass. Journal International Journal of Sound and Vibration, 228 (5), pp. 1017-1034, Dec, 1999. |
Conference/Workshop |
Contact Consistent Control Framework for Humanoid Robots. Conference/Workshop International Conference on Robotics and Automation, presented at Orlando, Florida, 19.05.2006. |
Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobile Robot Conference/Workshop Monterey, California, USA, 26.09.2005. |
Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobil Robot Conference/Workshop IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, USA, 25.07.2005. |
Constrained motion strategies for robotic systems Conference/Workshop Ph.D. Defense at Stanford University, 25.05.2005. |
Multi-Link Multi-Contact Force Control for Manipulators. Conference/Workshop International Conference on Robotics and Automation, presented at Barcelona, Spain, 22.04.2005. |
Robust Haptic Teleoperation of a Mobile Manipulation Platform.. Conference/Workshop International Symposium on Experimental robotics, Singapore, 21.06.2004. |
Model-Reference Adaptive Control for Haptic Teleopresence. Conference/Workshop IMS International Forum, Global Challenges in Manufacturing, Part I, pp.540-547, Villa Erba, Gernobbio, Italy, 19.05.2004. |
Multi-Contact Compliant Motion Control for Robotic Manipulators. Conference/Workshop International Conference on Robotics and Automation, New Orleans, LA., U.S.A., 01.05.2004. |
Real-Time Adaptive Control for Haptic Manipulation with Active Observers. Conference/Workshop International Conference on Intelligent Robots and Systems, pp.2938-2943, Las Vegas, Nevada, U.S.A., 31.10.2003. |
Robust and Adaptive Teleoperation for compliant motion tasks. Conference/Workshop International Conference on Advanced Robotics, pp.513-519, Portugal, Jun 2003, 15.06.2003. |
조립형 가구의 다양한 부품 조립을 위한 동작 모듈의 설계 Conference/Workshop 30.11.-0001. |
Keynote: Compliant Motion Control of Humanoid Robots for Real-World Applications Conference/Workshop 30.11.-0001. |