J
Jaeheung Park
Researcher at Seoul National University
Publications - 169
Citations - 3354
Jaeheung Park is an academic researcher from Seoul National University. The author has contributed to research in topics: Robot & Computer science. The author has an hindex of 24, co-authored 132 publications receiving 2780 citations. Previous affiliations of Jaeheung Park include Stanford University.
Papers
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Proceedings ArticleDOI
Torque-position transformer for task control of position controlled robots
TL;DR: The concept of torque-to-position transformer designed to allow the implementation of joint torque control techniques on joint position-controlled robots is presented and the results are presented which demonstrate the effectiveness of this approach.
Journal ArticleDOI
Whole-body dynamic behavior and control of human-like robots
TL;DR: This paper establishes models of the dynamic behavior of secondary task objectives within the posture space and presents a whole-body control framework that decouples the interaction between the task and postural objectives and compensates for the dynamics in their respective spaces.
Journal ArticleDOI
Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots
TL;DR: A new torque-based approach for the control of internal forces is suggested and illustrated on the Asimo humanoid robot, and the new controller is integrated into the framework for whole-body-prioritized multitasking, thus enabling the unified control of CoM maneuvers, operational tasks, and internal-force behavior.
Journal ArticleDOI
A Haptic Teleoperation Approach Based on Contact Force Control
Jaeheung Park,Oussama Khatib +1 more
TL;DR: This paper presents a new teleoperation approach using a virtual spring, and local contact force control on the slave robot, which allows the desired motion and contact forces to be combined in a single force command.
Journal ArticleDOI
Compliance-Based Robotic Peg-in-Hole Assembly Strategy Without Force Feedback
TL;DR: An inexpensive method is proposed for peg-in-hole assembly without force feedback or passive compliance mechanisms that consists of an analysis of the state of contact between the peg and the hole as well as a strategy to overcome the inevitable positional uncertainty of the hole incurred in the recognition process.