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Journal Articles

State-Space Basins for Monopedal Jumping With Stable Landing

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Sameer A. Upadhye, Justin K. Yim, William Z. Peng, Hyunjong Song, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044513.
Paper No: JMR-24-1457
https://doi.org/10.1115/1.4066981
Published Online: November 22, 2024
View Articletitled, State-Space Basins for Monopedal Jumping With Stable Landing
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Topics: Flight, Robots, Stability, Optimization, Dynamics (Mechanics)
Proceedings Papers

Lifting Task Stability Evaluation Based on Balanced State Basins of a Humanoid Robot

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Hyunjong Song, William Z. Peng, Joo H. Kim
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A066, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117042
https://doi.org/10.1115/DETC2023-117042
View Paper titled, Lifting Task Stability Evaluation Based on Balanced State Basins of a Humanoid Robot
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Topics: Humanoid robots, Stability
Journal Articles

Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability

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Hyunjong Song, William Z. Peng, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011005.
Paper No: JMR-22-1508
https://doi.org/10.1115/1.4056956
Published Online: March 8, 2023
View Articletitled, Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability
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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Robots, Stability, Construction
Proceedings Papers

Partition-Aware Stability Control for Humanoid Robot Push Recovery

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Hyunjong Song, William Z. Peng, Joo H. Kim
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A038, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89751
https://doi.org/10.1115/DETC2022-89751
View Paper titled, Partition-Aware Stability Control for Humanoid Robot Push Recovery
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Topics: Humanoid robots, Stability
Proceedings Papers

Reduced-Order Model With Foot Tipping Allowance for Legged Balancing

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William Z. Peng, Hyunjong Song, Joo H. Kim
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A011, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71976
https://doi.org/10.1115/DETC2021-71976
View Paper titled, Reduced-Order Model With Foot Tipping Allowance for Legged Balancing
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Topics: Clearances (Engineering), Pendulums, Optimization, Trajectories (Physics), Engineering simulation, Flywheels, Nonlinear programming, Simulation, Stability
Journal Articles

Stability Region-Based Analysis of Walking and Push Recovery Control

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William Z. Peng, Hyunjong Song, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031005.
Paper No: JMR-20-1460
https://doi.org/10.1115/1.4050095
Published Online: March 12, 2021
View Articletitled, Stability Region-Based Analysis of Walking and Push Recovery Control
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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Optimization, Robots, Stability, Trajectories (Physics)
Proceedings Papers

Stability Region-Based Analysis of Walking and Push Recovery Control

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William Z. Peng, Hyunjong Song, Joo H. Kim
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A056, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22720
https://doi.org/10.1115/DETC2020-22720
View Paper titled, Stability Region-Based Analysis of Walking and Push Recovery Control
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Topics: Robots, Stability
Proceedings Papers

Whole-Body Balancing Criteria for Biped Robots in Sagittal Plane

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Carlotta Mummolo, William Z. Peng, Joo H. Kim
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A068, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98036
https://doi.org/10.1115/DETC2019-98036
View Paper titled, Whole-Body Balancing Criteria for Biped Robots in Sagittal Plane
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Topics: Angular momentum, Center of mass, Control equipment, Dynamics (Mechanics), Engines, Kinematics, Motors, Robotics, Robots, Stability
Journal Articles

Contact-Dependent Balance Stability of Biped Robots

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Carlotta Mummolo, William Z. Peng, Carlos Gonzalez, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021009.
Paper No: JMR-17-1319
https://doi.org/10.1115/1.4038978
Published Online: February 27, 2018
View Articletitled, Contact-Dependent Balance Stability of Biped Robots
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Topics: Robots, Stability, Dynamics (Mechanics), Robotics
Proceedings Papers

Contact-Dependent Balance Stability of Walking Robots

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Carlotta Mummolo, William Z. Peng, Carlos Gonzalez, Joo H. Kim
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A035, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68272
https://doi.org/10.1115/DETC2017-68272
View Paper titled, Contact-Dependent Balance Stability of Walking Robots
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Topics: Robots, Stability, Center of mass, Robotics