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Gyunghoon Park

2 accepted papers

2021

Robust Landing Stabilization of Humanoid Robot on Uneven Terrain via Admittance Control and Heel Strike Motion

Joonhee Jo, Gyunghoon Park, Yonghwan Oh
ICRA 2021poster

This paper addresses robust landing stabilization in humanoid locomotion on uneven terrain. The core idea is to find a configuration of the robot that results in small impulsive force when an unexpected obstacle is encountered, and to adjust post-contact reference for swing foot with which the pose…

Cited by 5Source ↗Scholar ↗
2020

Lyapunov-based Approach to Reactive Step Generation for Push Recovery of Biped Robots via Hybrid Tracking Control of DCM

Gyunghoon Park, Jung Hoon Kim, Joonhee Jo, Yonghwan Oh
IROS 2020poster

This paper addresses reactive generation of step time and location of biped robots for balance recovery against a severe push. Key idea is to reformulate the balance recovery problem into a tracking problem for "hybrid" inverted pendulum model of the biped, where taking a new step implicitly yields…

Cited by 1Source ↗Scholar ↗