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DCL Seminar: Hae-Won Park - Dynamic Walking and Running Robots

Event Type
Decision and Control Laboratory, Coordinated Science Laboratory
CSL Auditorium, Room B02
Feb 3, 2016   3:00 pm  
Hae-Won Park, Ph.D.University of Illinois at Urbana-Champaign
Linda Meccoli
Originating Calendar
CSL Decision and Control Group

Decision and Control Lecture Series

Coordinated Science Laboratory


“Dynamic Walking and Running Robots”


Hae-Won Park, Ph.D.

University of Illinois

Wednesday, February 3, 2016

3:00 p.m. to 4:00 p.m.

CSL Auditorium (B02)


  “Dynamic Walking and Running Robots” 



The need for robot systems in disaster response, medical applications, and space exploration motivates us to study legged locomotion. In order to make such robot systems navigate unstructured and degraded environments, control design which achieves robust and dynamic walking or running gaits is necessary.

In this talk, I will present two examples of dynamic locomotion robots: a bipedal robot, MABEL at the University of Michigan, and a quadruped robot, MIT Cheetah 2 at MIT. The novel control designs for both robots are developed using optimal motion planning, feedback design, and inspiration from biological counterparts, which enables dynamically stable and robust locomotion. First, I will talk about the control design which allows MABEL to accommodate unknown terrain with ground variations up to 20% of its leg length (20 cm) without any vision feedback. Next, I will introduce an impulse-planning control design which not only enables MIT Cheetah 2 to run with a wide range speeds from 0 to 6 m/sec (22 km/h) but also provides autonomous jumps over obstacles with a maximum height of 40 cm (80% of body height) while running with a speed of 2.5 m/sec (9 km/h). 



Dr. Hae-Won Park is an Assistant Professor in the department of Mechanical Science and Engineering at the University of Illinois at Urbana-Champaign. He received B.S. and M.S. degrees from Yonsei University, Seoul, Korea, in 2005 and 2007, respectively, and the Ph.D. degree from the University of Michigan, in 2012, all in mechanical engineering. His research interests lie at the intersection of control, dynamics, and mechanical design of robotic systems, with special emphasis on bio-inspired locomotion robots. His postdoctoral work on the MIT Cheetah 2 robot has received a considerable amount of publicity worldwide with articles appearing in TIME, Washington Post, AP News, IEEE Spectrum, and MIT News. His doctoral work on the bipedal robot MABEL is also featured in the museum exhibition, “The Machine Inside: Biomechanics”, at the Chicago Field Museum. 

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