Hae-Won Park

Most-cited papers

1. Contact-implicit Model Predictive Control: Controlling diverse quadruped motions without pre-planned contact modes or trajectories

   Gijeong Kim, Dong-Kyun Kang, Joon-ha Kim, Seung-Woo Hong +1 more

   2023Int. J. Robotics Res.59 citations Open access

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2. Invariant Smoother for Legged Robot State Estimation With Dynamic Contact Event Information

   Ziwon Yoon, Joon-ha Kim, Hae-Won Park

   2024IEEE Transactions on robotics40 citations Open access

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3. Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion

   D. Youm, Hyunyoung Jung, Hyeongjun Kim, Jemin Hwangbo +2 more

   2023IEEE Robotics and Automation Letters39 citations Open access

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4. 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

   2025IEEE robotics & automation magazine15 citations

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5. Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion

   Young-Ha Shin, Tae-Gyu Song, Gwanghyeon Ji, Hae-Won Park

   2023arXiv.org13 citations

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6. Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients

   Hajun Kim, Dong-Kyun Kang, Min-Gyu Kim, Gijeong Kim +1 more

   2025IEEE Robotics and Automation Letters12 citations Open access

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7. PPF: Pre-Training and Preservative Fine-Tuning of Humanoid Locomotion via Model-Assumption-Based Regularization

   Hyunyoung Jung, Zhao-Yuan Gu, Ye Zhao, Hae-Won Park +1 more

   2025IEEE Robotics and Automation Letters11 citations Open access

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8. Multi-Sensor Fusion for Quadruped Robot State Estimation Using Invariant Filtering and Smoothing

   Ylenia Nisticò, Hajun Kim, João Carlos Virgolino Soares, Geoff Fink +2 more

   2025IEEE Robotics and Automation Letters8 citations Open access

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9. Design of LIGHTDOG: A high payload-to-weight, hose-less hydraulic quadrupedal robot

   Seung-Chu Shin, Seung-Woo Hong, Min-Su Kim, Jun-Ho Oh +1 more

   2026Int. J. Robotics Res.5 citations

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10. Advances, challenges, and opportunities for legged robots

    Jonas Frey, Matías Mattamala, Hae-Won Park, Mayank Mittal +4 more

    2026Sci. Robotics5 citations Open access

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11. Agile perceptive multiskill locomotion for quadrupedal robots in the wild

    Jun-Gill Kang, Jaehyun Park, Tae-Gyu Song, Joon-ha Kim +2 more

    2026Sci. Robotics4 citations Open access

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12. Dynamic Policy Learning for Legged Robot with Simplified Model Pretraining and Model Homotopy Transfer

    Dong-Kyun Kang, Min-Gyu Kim, Tae-Gyu Song, Hajun Kim +2 more

    2025arXiv.org1 citations

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13. From acrobatics to generality: Humanoid robots at an inflection point.

    Hae-Won Park

    2026Science Robotics0 citations

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14. Dynamic Policy Learning for Legged Robot With Simplified Model Pretraining and Model-Homotopy-Inspired Transfer

    Dong-Kyun Kang, Min-Gyu Kim, Tae-Gyu Song, Hajun Kim +2 more

    2025IEEE Robotics and Automation Letters0 citations Open access

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