MABEL, a new robotic bipedal walker and runner. - J. W. Grizzle; Jonathan W. Hurst; Benjamin Morris 001; Hae-Won Park 002; Koushil Sreenath (ACC, 2009)

Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. - Koushil Sreenath; Hae-Won Park 002; Ioannis Poulakakis; Jessy W. Grizzle (CDC, 2010)

A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL. - Koushil Sreenath; Hae-Won Park 002; Ioannis Poulakakis; J. W. Grizzle (Int. J. Robotics Res., 2011)

Switching control design for accommodating large step-down disturbances in bipedal robot walking. - Hae-Won Park 002; Koushil Sreenath; Alireza Ramezani; Jessy W. Grizzle (ICRA, 2012)

Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL. - Koushil Sreenath; Hae-Won Park 002; J. W. Grizzle (ICRA, 2012)

Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL. - Koushil Sreenath; Hae-Won Park 002; Ioannis Poulakakis; J. W. Grizzle (Int. J. Robotics Res., 2013)

A Finite-State Machine for Accommodating Unexpected Large Ground-Height Variations in Bipedal Robot Walking. - Hae-Won Park 002; Alireza Ramezani; J. W. Grizzle (IEEE Trans. Robotics, 2013)

Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds. - Hae-Won Park 002; Patrick M. Wensing; Sangbae Kim (Robotics: Science and Systems, 2015)

Design and experimental implementation of a quasi-direct-drive leg for optimized jumping. - Yanran Ding; Hae-Won Park 002 (IROS, 2017)

High-speed bounding with the MIT Cheetah 2: Control design and experiments. - Hae-Won Park 002; Patrick M. Wensing; Sangbae Kim (Int. J. Robotics Res., 2017)

Single Leg Dynamic Motion Planning with Mixed-Integer Convex Optimization. - Yanran Ding; Chuanzheng Li; Hae-Won Park 002 (IROS, 2018)

Bio-Inspired Design of a Gliding-Walking Multi-Modal Robot. - Won Dong Shin; Jaejun Park; Hae-Won Park 002 (IROS, 2018)

Real-time Model Predictive Control for Versatile Dynamic Motions in Quadrupedal Robots. - Yanran Ding; Abhishek Pandala; Hae-Won Park 002 (ICRA, 2019)

Design of a Lightweight Inflatable Sensing Sleeve for Increased Adaptability and Safety of Legged Robots. - Taekyoung Kim; Jaejun Park; Sohee John Yoon; Do Hun Kong; Hae-Won Park 002; Yong-Lae Park (RoboSoft, 2019)

qpSWIFT: A Real-Time Sparse Quadratic Program Solver for Robotic Applications. - Abhishek Goud Pandala; Yanran Ding; Hae-Won Park 002 (IEEE Robotics Autom. Lett., 2019)

Design of Anti-Skid Foot With Passive Slip Detection Mechanism for Conditional Utilization of Heterogeneous Foot Pads. - Jaejun Park; Do Hun Kong; Hae-Won Park 002 (IEEE Robotics Autom. Lett., 2019)

Joint Space Position/Torque Hybrid Control of the Quadruped Robot for Locomotion and Push Reaction. - Okkee Sim; Hyobin Jeong; Jaesung Oh; Moonyoung Lee; Kang Kyu Lee; Hae-Won Park 002; Jun-Ho Oh (ICRA, 2020)

Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program. - Yanran Ding; Chuanzheng Li; Hae-Won Park 002 (IROS, 2020)

Real-Time Constrained Nonlinear Model Predictive Control on SO(3) for Dynamic Legged Locomotion. - Seungwoo Hong; Joon-Ha Kim; Hae-Won Park 002 (IROS, 2020)

Hybrid Sampling/Optimization-based Planning for Agile Jumping Robots on Challenging Terrains. - Yanran Ding; Mengchao Zhang; Chuanzheng Li; Hae-Won Park 002; Kris Hauser (ICRA, 2021)

Learning Footstep Planning for the Quadrupedal Locomotion with Model Predictive Control. - Joowoong Byun; Donghoon Youm; Seunghoon Jeon; Jemin Hwangbo; Hae-Won Park 002 (RiTA, 2021)

2-DOF Rolling Joint with the Novel Interior Reinforcement Structures. - Jonghun Choe; Jun-Ho Oh; Hae-Won Park 002 (RiTA, 2021)

Design of Foothold Decision Model in Convex Model Predictive Control for Legged Robots. - Min-Gyu Kim 005; Seungwoo Hong; Joon-Ha Kim; Hae-Won Park 002 (RiTA, 2021)

Elimination of Race Condition During GPU Acceleration of Probabilistic Height Map. - Soonpyo Kwon; Juwoong Byun; Hae-Won Park 002 (RiTA, 2021)

WALK-VIO: Walking-motion-Adaptive Leg Kinematic Constraint Visual-Inertial Odometry for Quadruped Robots. - Hyunjun Lim; Byeongho Yu; Yeeun Kim; Joowoong Byun; Soonpyo Kwon; Hae-Won Park 002; Hyun Myung (CoRR, 2021)

Design of a Compact Embedded Hydraulic Power Unit for Bipedal Robots. - Buyoun Cho; Min-Su Kim 005; Sung-Woo Kim; Seunghoon Shin; Yeseong Jeong; Jun-Ho Oh; Hae-Won Park 002 (IEEE Robotics Autom. Lett., 2021)

Force Control of a Hydraulic Actuator With a Neural Network Inverse Model. - Sung-Woo Kim; Buyoun Cho; Seunghoon Shin; Jun-Ho Oh; Jemin Hwangbo; Hae-Won Park 002 (IEEE Robotics Autom. Lett., 2021)

Jumping over obstacles with MIT Cheetah 2. - Hae-Won Park 002; Patrick M. Wensing; Sangbae Kim (Robotics Auton. Syst., 2021)

Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds. - Yanran Ding; Abhishek Pandala; Chuanzheng Li; Young Ha Shin; Hae-Won Park 002 (IEEE Trans. Robotics, 2021)

Legged Robot State Estimation With Dynamic Contact Event Information. - Joon-Ha Kim; Seungwoo Hong; Gwanghyeon Ji; Seunghun Jeon; Jemin Hwangbo; Jun-Ho Oh; Hae-Won Park 002 (IEEE Robotics Autom. Lett., 2021)

Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control. - Lorenzo Amatucci; Joon-Ha Kim; Jemin Hwangbo; Hae-Won Park 002 (ICRA, 2022)

Design of KAIST HOUND, a Quadruped Robot Platform for Fast and Efficient Locomotion with Mixed-Integer Nonlinear Optimization of a Gear Train. - Young Ha Shin; Seungwoo Hong; Sangyoung Woo; Jonghun Choe; Harim Son; Gijeong Kim; Joon-Ha Kim; Kang Kyu Lee; Jemin Hwangbo; Hae-Won Park 002 (ICRA, 2022)

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)

DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators. - Tae-Gyu Song; Young Ha Shin; Seungwoo Hong; Hyungho Chris Choi; Joon-Ha Kim; Hae-Won Park 002 (IROS, 2022)

A*-Based Path Planning for Legged Robots. - Min-Gyu Kim 005; Hyun-Bin Kim; Hae-Won Park 002 (RiTA, 2022)

STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor. - Yeeun Kim; Byeongho Yu; Eungchang Mason Lee; Joon-Ha Kim; Hae-Won Park 002; Hyun Myung (IEEE Robotics Autom. Lett., 2022)

Agile and versatile climbing on ferromagnetic surfaces with a quadrupedal robot. - Seungwoo Hong; Yong Um; Jaejun Park; Hae-Won Park 002 (Sci. Robotics, 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)

Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion. - Young-Ha Shin; Tae-Gyu Song; Gwanghyeon Ji; Hae-Won Park 002 (CoRR, 2023)

Seamless Reaction Strategy for Bipedal Locomotion Exploiting Real-Time Nonlinear Model Predictive Control. - Jonghun Choe; Joon-Ha Kim; Seungwoo Hong; Jinoh Lee; Hae-Won Park 002 (IEEE Robotics Autom. Lett., 2023)

Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion. - Donghoon Youm; Hyunyoung Jung 002; Hyeongjun Kim; Jemin Hwangbo; Hae-Won Park 002; Sehoon Ha (IEEE Robotics Autom. Lett., 2023)

Invariant Smoother for Legged Robot State Estimation With Dynamic Contact Event Information. - Ziwon Yoon; Joon-Ha Kim; Hae-Won Park 002 (IEEE Trans. Robotics, 2024)

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)

PreCi: Pretraining and Continual Improvement of Humanoid Locomotion via Model-Assumption-Based Regularization. - Hyunyoung Jung 002; Zhaoyuan Gu; Ye Zhao 002; Hae-Won Park 002; Sehoon Ha (CoRR, 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)

Multi-Sensor Fusion for Quadruped Robot State Estimation Using Invariant Filtering and Smoothing. - Ylenia Nisticò; Hajun Kim; João Carlos Virgolino Soares; Geoff Fink; Hae-Won Park 002; Claudio Semini (IEEE Robotics Autom. Lett., 2025)

Reinforcement Learning for High-Speed Quadrupedal Locomotion With Motor Operating Region Constraints: Mitigating Motor Model Discrepancies through Torque Clipping in Realistic Motor Operating Region. - Young-Ha Shin; Tae-Gyu Song; Gwanghyeon Ji; Hae-Won Park 002 (IEEE Robotics Autom. Mag., 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)