Contact-Implicit Differential Dynamic Programming for Model Predictive Control with Relaxed Complementarity Constraints. - Gijeong Kim; Dongyun Kang; Joon-Ha Kim; Hae-Won Park 002 (IROS, 2022)

Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories. - Gijeong Kim; Dongyun Kang; Joon-Ha Kim; Seungwoo Hong; Hae-Won Park 002 (CoRR, 2023)

Contact-implicit Model Predictive Control: Controlling diverse quadruped motions without pre-planned contact modes or trajectories. - Gijeong Kim; Dongyun Kang; Joon-Ha Kim; Seungwoo Hong; Hae-Won Park 002 (Int. J. Robotics Res., 2025)

Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients. - Hajun Kim; Dongyun Kang; Min-Gyu Kim 005; Gijeong Kim; Hae-Won Park 002 (IEEE Robotics Autom. Lett., 2025)

Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study. - Dongyun Kang; Gijeong Kim; Jonghun Choe; Hajun Kim; Hae-Won Park 002 (CoRR, 2025)

Design of a 3-DOF Hopping Robot with an Optimized Gearbox: An Intermediate Platform Toward Bipedal Robots. - Jonghun Choe; Gijeong Kim; Hajun Kim; Dongyun Kang; Min-Su Kim 005; Hae-Won Park 002 (CoRR, 2025)

A Modular Residual Learning Framework to Enhance Model-Based Approach for Robust Locomotion. - Min-Gyu Kim 005; Dongyun Kang; Hajun Kim; Hae-Won Park 002 (IEEE Robotics Autom. Lett., 2025)