Publications (Google Scholar)




[Journal Articles]

[1] Daehyung Park, Yuuna Hoshi, and Charles C. Kemp. “A Multimodal Anomaly Detector for Robot-Assisted Feeding Using an LSTM-based Variational Autoencoder”, IEEE Robotics and Automation Letters (RA-L)2018. [PDF][Video] (presentation in ICRA 2018)

[2] Daehyung Park, Hokeun Kim, and Charles C. Kemp. “Multimodal Anomaly Detection for Assistive Robots”, Autonomous Robots, 2018. [PDF]

[3] Ariel Kapusta, Philip Grice, Henry Clever, Yash Chitalia, Daehyung Park, and Charles C. Kemp. “An Assistive Robotic System with a Robotic Bed and a Mobile Manipulator” [Submitted]

[4] Daehyung Park, Yuuna Hoshi, Harshar P. Mahajan, Wendy A. Rogers, and Charles C. Kemp. “Toward Active Robot-Assisted Feeding with a General-Purpose Mobile Manipulator: Design, Evaluation, and Lessons Learned” [Submitted]


[Conference Articles]

[1] Daniel Nyga, Subhro Roy, Rohan Paul, Daehyung Park, Mihai Pomarlan, Michael Beetz, and Nicholas Roy. "Grounding Robot Plans from Natural Language Instructions with Incomplete World Knowledge", Conference on Robot Learning (CoRL2018) [accepted][Video] (31% Acceptance Rate)

[2] Jacob Arkin, Rohan Paul, Daehyung Park, Subhro Roy, Nicholas Roy and Thomas M. Howard. "Real-Time Human-Robot Communication for Manipulation Tasks in Partially Observed Environments", International Symposium on Experimental Robotics (ISER2018) [accepted][Video]

[3] Henry M. Clever, Ariel Kapusta, Daehyung Park, Zackory Erickson, Yash Chitalia, and Charles C. Kemp. “Estimating 3D Human Pose on a Configurable Bed from a Single Pressure Image”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018). [PDF]

[4] Daehyung Park, Hokeun Kim, Yuuna Hoshi, Zackory Erickson, Ariel Kapusta, and Charles C. Kemp. “A Multimodal Execution Monitor with Anomaly Classification for Robot-Assisted Feeding”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017) [PDF][Video]

[5] Daehyung Park, Zackory Erickson, Tapomayukh Bhattacharjee, and Charles C. Kemp. “Multimodal Execution Monitoring for Anomaly Detection During Robot Manipulation”, IEEE International Conference on Robotics and Automation, 2016. (ICRA2016) [PDF][Video] (34% Acceptance Rate)

[6] Tapomayukh Bhattacharjee, Ashwin A Shenoi, Daehyung Park, James M. Rehg, and Charles C. Kemp, "Combining Tactile Sensing and Vision for Rapid Haptic Mapping", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015) [PDF]

[7] Ariel Kapusta, Daehyung Park, and Charles C. Kemp, "Task-Centric Selection of Robot and Environment Initial Configurations to Perform Assistive Tasks",  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015) [PDF]

[8] Daehyung Park, Ariel Kapusta, Jeffrey Hawke, and Charles C. Kemp. “Interleaving Planning and Control for Efficient Haptically-guided Reaching in Unknown Environments”, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014) [PDF][Video]

[9] Daehyung Park, Ariel Kapusta, Youkeun Kim, James M. Rehg, and Charles C. Kemp. “Learning to Reach into the Unknown: Selecting Initial Conditions When Reaching in Clutter”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2014) [PDF][Video]

[10] Heiko Hoffmann, Peter Pastor, Daehyung Park, and Stefan Schaal. “Biologically-inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance”, IEEE International Conference on Robotics and Automation, 2009. [PDF]

[11] Daehyung Park, Heiko Hoffmann, Peter Pastor, and Stefan Schaal. “Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields”, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2008) [PDF]


[Workshop papers, Abstracts, and Posters]

[1] Daehyung Park, Yuuna Hoshi, Harshal P. Mahajan, Wendy Rogers, and Charles C. Kemp, "Active Feeding System using a General-purpose Manipulator," International Symposium on Medical Robotics (ISMR), 2018 [PDF]

[2] Daehyung Park and Charles C. Kemp, "Multimodal Execution Monitoring for Robot-Assisted Feeding," TechSAge State of the Science Conference, 2017 [PDF]

[3] Ariel Kapusta, Yash Chitalia, Daehyung Park, and Charles C. Kemp. "Collaboration Between a Robotic Bed and a Mobile Manipulator May Improve Physical Assistance for People with Disabilities," IEEE ROMAN workshop on Behavior, Adaptation and Learning for Assistive Robotics" (BAILAR), 2016 [PDF]

[4] Daehyung Park, Youkeun Kim, Zackory Erickson, and Charles C. Kemp. “Towards Assistive Feeding with a General-Purpose Mobile Manipulator”, ICRA2016 workshop on Human-Robot Interfaces for Enhanced Physical Interactions, 2016 [PDF]

[5] T. Bhattacharjee*, P. M. Grice*, A. Kapusta*, M. D. Killpack*, D. Park*, and C. C. Kemp. “A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning”, IROS2014 workshop on Robots In Clutter (*- authors contributed equally) [PDF][Video]

[6] Daehyung Park, Heiko Hoffmann, and Stefan Schaal. “Combining dynamic movement primitives and potential fields for online obstacle avoidance”, Adaptive Motion of Animals and Machines (AMAM08), Cleveland, Ohio, 2008 [PDF]


[Patents]

[1] D. Park, K. Lee, C. An, and Y. Hong. “Teaching and playback method based on control of redundancy resolution for robot and computer-readable medium controlling the same.” US Patent 12 923 650, Apr. 21, 2011. [PDF]

[2] K. Lee, Y. Hong, C. An, and D. Park. “Motor control apparatus and motor control method thereof.” US Patent 13 009 961, Jan. 20, 2011. [PDF]

[3] K. Lee, Y. Hong, C. An, and D. Park. “모터 제어장치 및 모터 제어 방법(MOTOR CONTROL APPARATUS AND CONTROL METHOD THE SAME),” KR Patent App. 1,020,100,006,682, Aug. 2, 2011

[4] D. Park, K. Lee, C. An, and Y. Hong. “여유자유도 제어를 이용한 로봇의 교시 및 재현 방법 (TEACHING AND PLAYBACK METHOD USING REDUNDANCY RESOLUTION CONTROL FOR MANIPULATOR),” KR Patent App. 1,020,090,099,003, Apr. 22, 2011