Welcome to the KAIST Dynamic Robotics Control & Design Laboratory. Our goal is to advance the current state of the art in control and mechanical design to achieve highly efficient, extremely agile, and ultra-robust dynamic behaviors in dynamic robot systems. We envision that the next generation of the dynamic robots are able to navigate in unstructured, remote, unsafe environments for disaster response and search and rescue operations to save people’s lives.

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Our approach offers a unique and strong combination of modeling, simulation, and control techniques of dynamic robot systems. We utilize insights from the observation of biological systems, model-based control design technique, and experimental implementation on real hardware platforms to enable highly-dynamic and efficient performance rivaling or even exceeding biological counterparts.

Real-Time Constrained Nonlinear Model Predictive Control on SO(3) for Dynamic Legged Locomotion

 

Real-time Model Predictive Control for Versatile Dynamic Motions in Quadrupedal Robots

 

Design of Anti-skid Foot with Passive Slip Detection Mechanism for Conditional Utilization of Heterogeneous Foot Pads

 

Development and Experiments of a Bio-inspired Robot with Multi-mode in Aerial and Terrestrial Locomotion

 

High Speed Running Control of Quadrupedal Robots

 

Control of a Compliant Bipedal Robotic Walker and Runner

 

Chuanzheng Li, Yanran Ding, Hae-Won Park,
"Centroidal-momentum-based trajectory generation for legged locomotion,"
Mechatronics, 2020, Vol. 68, No. 102364, pp. 0~ 0

Abhishek Pandala, Yanran Ding, Hae-Won Park,
"qpSWIFT : A Real-time Sparse Quadratic Program Solver for Robotic Applications,"
IEEE Robotics and Automation Letters, 2019, Vol. 4, No. 4, pp. 3355~ 3362

Won Dong Shin, Jaejun Park, Hae-Won Park,
"Development and Experiments of a Bio-inspired Robot with Multi-mode in Aerial and Terrestrial Locomotion,"
Bioinsipiration & Biomimetics, 2019, Vol. 14, No. 5, pp. 56009~ 0