Articles
2024
Active learning of the collision distance function for high-DOF multi-arm robot systems
Jihwan Kim, and Frank C. Park
Robotica 2024
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2023
Robot Model Identification and Learning: A Modern Perspective
Taeyoon Lee, Jaewoon Kwon, Patrick M. Wensing, and Frank C. Park
Annual Review of Control, Robotics, and Autonomous Systems 2023
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Energy-Based Models for Anomaly Detection: A Manifold Diffusion Recovery Approach
Sangwoong Yoon, Young-Uk Jin, Yung-Kyun Noh, and Frank C. Park
Conference on Neural Information Processing Systems (NeurIPS) 2023
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Variational Weighting for Kernel Density Ratios
Sangwoong Yoon, Frank C. Park, Gunsu YUN, Iljung Kim, and Yung-Kyun Noh
Conference on Neural Information Processing Systems (NeurIPS) 2023
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Robotics and Automation Practice
Frank C. Park
IEEE Robotics & Automation Magazine (RAM) 2023
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Leveraging 3D Reconstruction for Mechanical Search on Cluttered Shelves
Seungyeon Kim, Young Hun Kim, Yonghyeon Lee, and Frank C. Park
Conference on Robot Learning (CoRL) 2023
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Equivariant Motion Manifold Primitives
Byeongho Lee, Yonghyeon Lee, Seungyeon Kim, MinJun Son, and Frank C. Park
Conference on Robot Learning (CoRL) 2023
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PairwiseNet: Pairwise Collision Distance Learning for High-dof Robot Systems
Jihwan Kim and Frank C. Park
Conference on Robot Learning (CoRL) 2023
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Data-driven constitutive model of complex fluids using recurrent neural networks
Howon Jin, Sangwoong Yoon, Frank C. Park, and Kyung Hyun Ahn
Rheologica Acta 2023
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The Education of a Roboticist
Frank C. Park
IEEE Robotics & Automation Magazine (RAM) 2023
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Geometrically Regularized Autoencoders for Non-Euclidean Data
Cheongjae Jang, Yongheon Lee, Yung-Kyun Noh, and Frank C. Park
International Conference on Learning Representations (ICLR) 2023
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2022
SE(2)-Equivariant Pushing Dynamics Models for Tabletop Object Manipulations
Seungyeon Kim, Byeongdo Lim, Yonghyeon Lee, and Frank C. Park
Conference on Robot Learning (CoRL) 2022
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Reparametrization-Invariant Sharpness Measure Based on Information Geometry
Cheongjae Jang, Sungyoon Lee, Frank C. Park, and Yung-Kyun Noh
Advances in Neural Information Processing Systems (NeurIPS) 2022
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Physically Consistent Lie Group Mesh Models for Robot Design and Motion Co-Optimization
Jaewoon Kwon, Seunghyun Kim and Frank C. Park
IEEE Robotics and Autonomation Letters (RA-L) 2022
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A Statistical Manifold Framework for Point Cloud Data
Yonghyeon Lee*, Seungyeon Kim*, Jinwon Choi, and Frank C. Park
International Conference on Machine Learning (ICML) 2022
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DSQNet: A Deformable Model-Based Supervised Learning Algorithm for Grasping Unknown Occluded Objects
Seungyeon Kim*, Taegyun Ahn*, Yonghyeon Lee, Jihwan Kim, Michael Yu Wang, and Frank C. Park
IEEE Transactions on Automation Science and Engineering (T-ASE) 2022
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On the existence and computation of minimum attention optimal control laws
Pilhwa Lee and Frank C. Park
IEEE Transactions on Automatic Control (T-AC) 2022
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Regularized autoencoders for isometric representation learning
Yonghyeon Lee, Sangwoong Yoon, Minjun Son, and Frank C. Park
International Conference on Learning Representations (ICLR) 2022
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2021
A Riemannian geometric framework for manifold learning of non-Euclidean data
Cheongjae Jang, Yung-Kyun Noh, and Frank C. Park,
Advances in Data Analysis and Classification 2021
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Optimal excitation trajectories for mechanical systems identification
Taeyoon Lee, Bryan D. Lee, and Frank C. Park
Automatica 2021
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A geometric formulation of multirotor aerial vehicle dynamics
Youngsuk Hong, Ramy Rashad, Soocheol Noh, Taeyoon Lee, Stefano Stramigioli, and Frank C. Park
Nonlinear Dynamics 2021
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A geometric framework for covariance dynamics
Chulwoo Han and Frank C. Park
Journal of Banking & Finance 2021
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Kinodynamic model identification: A unified geometric approach
Jaewoon Kwon, Keunjun Choi, and Frank C. Park
IEEE Transactions on Robotics (T-RO) 2021
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On the encoding capacity of human motor adaptation
Seungyeon Kim, Jaewoon Kwon, Jin-Min Kim, Frank C. Park, and Sang-Hoon Yeo
Journal of Neurophysiology (JNP) 2021
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Collision detection for robot manipulators using unsupervised anomaly detection algorithms
Kyu Min Park, Younghyo Park, Sangwoong Yoon, and Frank C. Park
IEEE/ASME Transactions on Mechatronics (TMECH) 2021
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Learning-based automation of robotic assembly for smart manufacturing
Sanghoon Ji, Sukhan Lee, Sujeong Yoo, Ilhong Suh, Inso Kwon, Frank C. Park, Sanghyoung Lee, and Hongseok Kim
Proceedings of the IEEE 2021
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Neighborhood reconstructing autoencoders
Yonghyeon Lee, Hyeokjun Kwon, and Frank C. Park
Advances in Neural Information Processing Systems (NeurIPS) 2021
[link] [code]
Autoencoding under normalization constraints
Sangwoong Yoon, Yung-Kyun Noh, and Frank C. Park
International Conference on Machine Learning (ICML) 2021
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IMAT: The iterative medial axis transform
Yonghyeon Lee, Jonghyuk Baek, Young Min Kim, and Frank C. Park
Computer Graphics Forum (CGF) 2021
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Age-group determination of living individuals using first molar images based on artificial intelligence
Seunghyeon Kim, Yeon-Hee Lee, Yung-Kyun Noh, Frank C. Park, Q.-Schick Auh
Scientific Reports 2021
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2020
Efficient neural network compression via transfer learning for machine vision inspection
Seunghyeon Kim, Yung-Kyun Noh, and Frank C. Park
Neurocomputing 2020
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Learning-based real-time detection of robot collisions without joint torque sensors
Kyu Min Park, Jihwan Kim, Jinhyuk Park, and Frank C. Park
IEEE Robotics and Automation Letters 2020
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A hybrid dynamic model for the ambidex tendon-driven manipulator
Keunjun Choi, Jaewoon Kwon, Taeyoon Lee, Changwoo Park, Jinwon Pyo, Choongin Lee, SungPyo Lee, Inhyeok Kim, Sangok Seok, Yong-Jae Kim, and Frank C. Park
Mechatronics 2020
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A linear-time variational integrator for multibody systems
Jeongseok Lee, C. Karen Liu, Frank C. Park, and Siddhartha S. Srinivasa
Algorithmic Foundations of Robotics XII 2020
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2019
A generative neural network for learning coordinated reach-grasp motions
Eunsuk Chong, Jinhyuk Park, Hyungmin Kim, and Frank C. Park
IEEE Robotics and Automation Letters (RA-L) 2019
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Gaussian process trajectory learning and synthesis of individualized gait motions
Jisoo Hong, Changmook Chun, Seung-Jong Kim, and Frank C. Park
IEEE Transactions on Neural Systems and Rehabilitation Engineering (TNSRE) 2019
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Geometric robot dynamic identification: A convex programming approach
Taeyoon Lee, Patrick M. Wensing, and Frank C. Park
IEEE Transactions on Robotics (T-RO) 2019
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Unscented Kalman filtering for simultaneous estimation of attitude and gyroscope bias
Donghoon Kang, Cheongjae Jang, and Frank C. Park
IEEE/ASME Transactions on Mechatronics (TMECH) 2019
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2018
Interpretable feature selection using local information for credit assessment
Sangwoong Yoon, Yonho Song, Minsoo Kim, Frank C. Park, and Yung-Kyun Noh
NIPS 2018 Workshop on Challenges and Opportunities for AI in Financial Services: the Impact of Fairness, Explainability, Accuracy, and Privacy 2018
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Bias reduction and metric learning for nearest-neighbor estimation of Kullback-Leibler divergence
Yung-Kyun Noh, Masashi Sugiyama, Song Liu, Marthinus C. du Plessis, Frank C. Park, and Daniel D. Lee
Neural Computation 2018
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Fluid dynamic models for Bhattacharyya-based discriminant analysis
Yung-Kyun Noh, Jihun Hamm, Frank Chongwoo Park, Byoung-Tak Zhang, and Daniel D. Lee
IEEE Transactions on pattern analysis and machine intelligence (TPAMI) 2018
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A geometric algorithm for robust multibody inertial parameter identification
Taeyoon Lee and Frank C. Park
IEEE Robotics and Automation Letters (RA-L) 2018
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Closed-form position and orientation estimation for a three-axis electromagnetic tracking system
Wooyoung Kim, Jihoon Song, and Frank C. Park
IEEE Transactions on Industrial Electronics (TIE) 2018
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Geometric algorithms for robot dynamics: A tutorial review
Frank C. Park, Beobkyoon Kim, Cheongjae Jang, and Jisoo Hong
Applied Mechanics Reviews 2018
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2017
An adaptive stepsize RRT planning algorithm for open-chain robots
Byungchul An, Jinkyu Kim, and Frank C. Park
IEEE Robotics and Automation Letters (RA-L) 2017
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Generative local metric learning for kernel regression
Yung-Kyun Noh, Masashi Sugiyama, Kee-Eung Kim, Frank C. Park, and Daniel D. Lee
Advances in Neural Information Processing Systems (NIPS) 2017
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Transfer learning for automated optical inspection
Seunghyeon Kim, Wooyoung Kim, Yung-Kyun Noh, and Frank C. Park
International Joint Conference on Neural Networks (IJCNN) 2017
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Deep learning networks for stock market analysis and prediction: Methodology, data representations, and case studies
Eunsuk Chong, Chulwoo Han, and Frank C. Park
Expert Systems with Applications 2017
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A geometric treatment of time-varying volatilities
Chulwoo Han, Frank C. Park, and Jangkoo Kang
Review of Quantitative Finance and Accounting 2017
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Comparative analysis of energy-based criteria for dynamics-based robot motion optimization
Youngsuk Hong, Jinkyu Kim, and Frank C. Park
IEEE Conference on Control Technology and Applications (CCTA) 2017
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Movement prediction for a lower limb exoskeleton using a conditional restricted Boltzmann machine
Eunsuk Chong and Frank C.Park
Robotica 2017
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2016
Randomized path planning for tasks requiring the release and regrasp of objects
Jinkyu Kim, Inyoung Ko, and Frank C. Park
Advanced Robotics 2016
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Tangent bundle RRT: A randomized algorithm for constrained motion planning
Beobkyoon Kim, Terry Taewoong Um, Chansu Suh, and Frank C. Park
Robotica 2016
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Optimizing tube precurvature to enhance the elastic stability of concentric tube robots
Junhyoung Ha, Frank C. Park, and Pierre E. Dupont
IEEE Transactions on Robotics (T-RO) 2016
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Toward on-line parameter estimation of concentric tube robots using a mechanics-based kinematic model
Cheongjae Jang, Junhyoung Ha, Pierre E. Dupont, and Frank C. Park
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2016
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2015
A stochastic global optimization algorithm for the two-frame sensor calibration problem
Junhyoung Ha, Donghoon Kang, and Frank C. Park
IEEE Transactions on Industrial Electronic (TIE) 2015
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Elastic stability of concentric tube robots subject to external loads
Junhyoung Ha, Frank C. Park, and Pierre E. Dupont
IEEE Transactions on Biomedical Engineering (TBE) 2015
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Gaussian process learning and interpolation of gait motion for rehabilitation robots
Changmook Chun, Seung-Jong Kim, Jisoo Hong, and Frank C. Park
International Conference on Automation, Robotics and Applications (ICARA) 2015
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Ground collision-free motion for gait rehabilitation
Jisoo Hong, Changmook Chun, Seung-Jong Kim, and Frank C. Park
International Conference of the IEEE Engineering in Medicine and Biology Society 2015
An RFID localization algorithm for a plug-in electric vehicle recharging robot
Hyungan Oh, Byungchul An, Anthony L. Smith, Madhusudan Raghavan, and Frank C. Park
IEEE International Conference on Consumer Electronics (ICCE) 2015
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Minimizing energy consumption of parallel mechanisms via redundant actuation
Giuk Lee, Sumin Park, Donghun Lee, Frank C. Park, Jay I. Jeong, and Jongwon Kim
IEEE/ASME Transactions on Mechatronics (TMECH) 2015
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A minimum attention control law for ball catching
Cheongjae Jang, Jee-eun Lee, Sohee Lee, and Frank C. Park
Bioinspiration & Biomimetics 2015
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Parallel robots
Frank C. Park
Encyclopedia of Systems and Control 2015
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Novel propulsion & energy recharge architectures for urban vehicles
Madhusudan Raghavan, Raviteja Chanumolu, and Frank C. Park
Proceedings of EVS 2015
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Motion optimization using Gaussian process dynamical models
Hyuk Kang and Frank C. Park
Multibody System Dynamics 2015
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Musculoskeletal dynamics simulation using shape-varying muscle mass models
Minyeon Han, Jisoo Hong, and Frank C. Park
Multibody System Dynamics 2015
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2014
DTI segmentation and fiber tracking using metrics on multivariate normal distributions
Minyeon Han and Frank C. Park
Journal of mathematical imaging and vision 2014
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Randomized path planning on vector fields
Inyoung Ko, Beobkyoon Kim, and Frank C. Park
The International Journal of Robotics Research (IJRR) 2014
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Achieving elastic stability of concentric tube robots through optimization of tube precurvature
Junhyoung Ha, Frank C. Park, and Pierre E. Dupont
IEEE/RSJ international conference on intelligent robots and systems (IROS) 2014
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Optimizing curvature sensor placement for fast, accurate shape sensing of continuum robots
Beobkyoon Kim, Junhyoung Ha, and Frank C. Park
IEEE international conference on robotics and autonomation (ICRA) 2014
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Publishing in IEEE Transactions on Robotics
Frank C. Park
IEEE Robotics & Automation Magazine 2014
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Kinematic and dynamic modeling of spherical joints using exponential coordinates
Jinwook Kim, Sung-Hee Lee, and Frank C. Park
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 2014
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2013
A geometric particle filter for template-based visual tracking
Junghyun Kwon, Hee Seok Lee, Frank C. Park, and Kyoung Mu Lee
IEEE Transactions on pattern analysis and machine intelligence (TPAMI) 2013
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Dynamically optimal trajectories for earthmoving excavators
Young Bum Kim, Junhyoung Ha, Hyuk Kang, Pan Young Kim, Jinsoo Park, and Frank C. Park
Automation in Construction 2013
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Editorial message from the incoming editor-in-chief
Frank C. Park
IEEE Transactions on Robotics (T-RO) 2013
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Kinematic feedback control laws for generating natural arm movements
Donghyun Kim, Cheongjae Jang, and Frank C. Park
Bioinspiration & Biomimetics 2013
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A multitasking architecture for humanoid robot programming
Jaeyoung Han and Frank C. Park
Intelligent Service Robotics 2013
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Robotics in Korea
Frank C. Park
IEEE Robotics & Automation Magazine (RAM) 2013
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2012
Mobile robot path planning algorithm by equivalent conduction heat flow topology optimization
Jae Chun Ryu, Frank C. Park, and Yoon Young Kim
Structural and Multidisciplinary Optimization 2012
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Rollover prevention of mobile manipulators using invariance control and recursive analytic ZMP gradients
Sohee Lee, Marion Leibold, Martin Buss, and Frank C. Park
Advanced Robotics 2012
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2011
Yung-Kyun Noh, Frank C. Park, and Daniel D. Lee,
Model dependency of performance in generative local metric learning,
한국정보과학회 학술발표논문집, vol. 38, no. 2B, pp. 307-310, 2011.
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Frank C. Park, CM Chun, CW Han, and Nick Webber,
Interest rate models on Lie groups,
Quantitative Finance, vol. 11, no. 4, pp. 559-572, 2011.
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2010
Seungjin Yoo, Cheol-Gyu Park, Bokman Lim, Kyo Il Lee, and Frank C. Park,
Bandwidth maximizing design for hydraulically actuated excavators,
Journals of Vibration and Control, vol. 16, no. 14, pp. 2109-2130, 2010.
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Chang S. Han, Piotr G. Jablonski, Beobkyun Kim, and Frank C. Park,
Size-assortative mating and sexual Size dimorphism are predictable from simple mechanics of mate-grasping behavior,
BMC Evolutionary Biology, vol. 10, no. 1, pp. 1-16, 2010.
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Junghyun Kwon and Frank C. Park,
Visual tracking via particle filtering on the affine group,
The International Journal of Robotics Research, vol. 29, no. 2-3, pp. 198-217, 2010.
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2009
Junghyun Kwon, Kyoung Mu Lee, and Frank C. Park,
Visual tracking via geometric particle filtering on the affine group with optimal importance functions,
in 2009 IEEE Conference on Computer Vision and Pattern Recognition. IEEE, 2009, pp. 991-998.
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2008
Bokman Lim and Frank C. Park,
Minimum vibration mechanism design via convex programming,
Journal of Mechanical Design, vol. 131, no. 1, pp. 011009, 2008.
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Jorge Angeles and Frank C. Park,
Performance evaluation and design criteria,
in Springer handbook of robotics, vol. 200, Bruno Siciliano, Oussama Khatib, and Torsten Kroger, Ed: Springer, 2008, pp. 229-244.
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Bokman Lim, Jan Babic, and Frank C. Park,
Optimal jumps for biarticular legged robots,
in 2008 IEEE International Conference on Robotics and Automation. IEEE, 2008, pp. 226-231.
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Soonkyum Kim and Frank C. Park,
Fast robot motion generation using principal components: Framework and algorithms,
IEEE Transactions on Industrial Electronics, vol. 55, no. 6, pp. 2506-2516, 2008.
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Seok Lee and Frank C. Park,
Cyclic optimization algorithms for simultaneous structure and motion recovery in computer vision,
Engineering Optimization, vol. 40, no. 5, pp. 403-419, 2008.
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2007
2006
2005
2004
A modular object-oriented framework for hierarchical multi-resolution robot simulation [paper]
A robust, discrete, near time-optimal controller for hard disk drives [paper]
Movement primitives and principal component analysis [paper]
Noise Sensitivity Analysis of Statistically Consistent Optimal Structure from Motion [paper]
2003
A Sense of Life: Computational and Experimental Investigations with Models of Biochemical and Evolutionary Processes [paper]
Foundations of a Query and Simulation System for the Modeling of Biochemical and Biological Processes [paper]
Geometric Algorithms for Closed Chain Kinematic Calibration [paper]
Numerical Optimization on the Euclidean Group With Applications to Camera Calibration [paper]
Simultaneous Shape and Motion Recovery: Geometry, Optimal Estimation, and Coordinate Descent Algorithms [paper]
2002
Design, Analysis and Control of a Spherical Continuously Variable Transmission [paper]
Design, Analysis and Control of a Wheeled Mobile Robot with a Nonholonomic Spherical CVT [paper]
Design of Developable Surfaces Using Optimal Control [paper]
Eclipse-II: A New Parallel Mechanism Enabling Continuous 360-degree Spinning Plus Three-axis Translational Motions [paper]
Eclipse-RP: a new RP machine based on repeated deposition and machining [paper]
Investigation of singularities and self-motions of the 3-UPU robot [paper]
Kinematic sensitivity analysis of the 3-UPU parallel mechanism [paper]
Simulating Large Biochemical and Biological Processes and Reasoning about their Behavior [paper]
Simulation-Based Actuator Selection for Redundantly Actuated Robot Mechanisms [paper]
2001
Design and Analysis of a Redundantly Actuated Parallel Mechanism for Rapid Machining [paper]
Direct Kinematic analysis of 3-RS parallel mechanisms [paper]
Dynamics-Based Attitude Determination using the Global Positioning System [paper]
Finding the maximally inscribed rectangle in a robot's workspace [paper]
Least Squares Tracking on the Euclidean Group [paper]
Optimal Robot Motions for Physical Criteria [paper]
2000
Elasto-kinematic design tools for parallel mechanisms [paper]
Geometric Descent Algorithms for Attitude Determination Using GPS [paper]
Lie theory, Riemannian geometry, and the dynamics of coupled rigid bodies [paper]
Performance Analysis of Parallel Mechanism Architectures for CNC Machining Applications [paper]
1999
1998
1997
1996
Kinematic calibration using the product of exponentials formula [paper]
1995
Bezier curves on Riemannian manifolds and Lie groups with kinematics applications [paper]
Distance metrics on the rigid-body motions with applications to mechanism design [paper]
Geometric optimization algorithms for robot kinematic design [paper]
Lie group formulation of robot dynamics [paper]
Optimal robot design and differential geometry [paper]
1994
1993
How to move a robot [paper]
1991
The Optimal Kinematic Design of Mechanisms [paper]