Papers
5
Total Citations
26
H-Index
3
About
Gyunghoon Park is a robotics and control researcher whose work centers on humanoid robot locomotion, balance recovery, and robust motion control. His research tackles some of the most challenging problems in bipedal robotics, particularly enabling humanoid robots to walk stably and recover from disturbances on uneven, unpredictable terrain. Park's most influential contribution, garnering 16 citations, introduces a quadratic programming-based impedance/admittance control framework that significantly improves walking stabilization for humanoids navigating irregular surfaces — a critical step toward deploying robots in real-world environments. Complementing this, his work on landing stabilization employs admittance control and heel-strike motion to gracefully handle unexpected ground contact during locomotion. A recurring theme across Park's research is push recovery: his Lyapunov-based reactive step generation framework reformulates balance recovery as a hybrid tracking problem, offering theoretically grounded guarantees for biped stability after severe pushes. His earlier work on ZMP trajectory generation further demonstrates his commitment to fully reactive, real-time control strategies. More recently, Park has extended his interests into formal control theory, addressing fundamental convergence and stability questions in prioritized output tracking control under imperfect feedback linearization. Together, his body of work bridges rigorous theoretical analysis with practical humanoid locomotion challenges, making him a notable contributor to the field of legged robot control.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3
- 4
- 5