Hae Yeon Park — accepted AI-conference papers

2024

Robust Balancing Control of Biped Robots for External Forces

ICRA 2024poster

This paper develops a controller synthesis method for ensuring an admissible bound of external forces on biped robots in a desired level. We first introduce the authors’ preceding results on the norm-based stability criterion for a biped walking constructed on its linear inverted pendulum model (LIP…

Cited by 4 Source ↗Scholar ↗

2023

A New Robust Control Framework for Robot Manipulators without Velocity Measurements: A Modified Dual-loop Control Scheme

Hae Yeon Park, Jung Hoon Kim

ICRA 2023poster

This paper proposes a new framework for the computed torque method (CTM) of robot manipulators without velocity measurements. We first introduce the Luenberger-observer-based CTM with only position measurements. We then clarify that the external disturbance affects not only the tracking performances…

Cited by 0 Source ↗Scholar ↗