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Explore insights at the intersection of robotics, optimal control, and mechanically adaptive design. Here, you will find deep dives into compliant actuators, human augmentation, and the challenges of sim-to-real transfer. Whether you are an engineer, researcher, or industry professional, these articles offer valuable insights and thought-provoking discussions to drive advancements in robotics.

Hardware-in-the-Loop Iterative Optimal Feedback Control without Model-based Future Prediction

Y. Chen and D. J. Braun, Hardware-in-the-Loop Iterative Optimal Feedback Control without Model-based Future Prediction, vol. 35, no. 6, pp. 1419-1434, IEEE Transactions on Robotics, 2019. Optimal control provides a systematic approach to…

Variable Stiffness Spring Actuators for Low Energy Cost Stiffness Modulation

D.J. Braun, V. Chalvet, Chong T.-H., S.S. Apte and N. Hogan, Variable Stiffness Spring Actuators for Low Energy Cost Stiffness Modulation, vol. 35, no. 6, pp. 1435-1449, IEEE Transactions on Robotics, 2019. Theoretical studies…

Multiphase and Multivariable Linear Controllers that Account for the Joint Torques in Normal Human Walking

E.S. Altinkaynak and D.J. Braun, Multiphase and Multivariable Linear Controllers that Account for the Joint Torques in Normal Human Walking, IEEE Transactions on Biomedical Engineering, 2019. Objective: The objective of this paper…

Algorithmic Resolution of Multiple Impacts in Non-smooth Mechanical Systems with Switching Constraints

Y. Li, H. Yu, and D.J. Braun, Algorithmic Resolution of Multiple Impacts in Non-smooth Mechanical Systems with Switching Constraints, IEEE International Conference on Robotics and Automation, Montreal, CA, pp. 7639-7645, May 2019.…

Constrained Feedback Control by Prioritized Multi-objective Optimization

L. Li and D.J. Braun, Constrained Feedback Control by Prioritized Multi-objective Optimization, IEEE International Conference on Robotics and Automation, Montreal, CA, pp. 9496-9501, May 2019. Prioritized multi-objective optimization has been widely used within…

A Phase-Invariant Linear Torque-Angle-Velocity Relation Hidden in the Human Walking Data

E.S. Altinkaynak and D.J. Braun, A Phase-Invariant Linear Torque-Angle-Velocity Relation Hidden in the Human Walking Data, vol. 27, no. 4, pp. 702-711, IEEE Transactions on Neural Systems & Rehabilitation Engineering, 2019. Human…

Enhancing Mobility with Quasi-passive Variable Stiffness Exoskeletons

A. Sutrisno and D.J. Braun, Enhancing Mobility with Quasi-passive Variable Stiffness Exoskeletons, IEEE Transactions on Neural Systems & Rehabilitation Engineering, vol. 27, no. 3, pp. 487-496, 2019. Highlighted research by IEEE Transactions…

Reinforcement Learning for a Class of Continuous-time Input Constrained Optimal Control Problems

F. A. Yaghmaie and D.J. Braun, Reinforcement Learning for a Class of Continuous-time Input Constrained Optimal Control Problems, Automatica, vol. 99, pp. 221-227, 2019. In this paper, we identify a class of…

Efficiently Computable Constrained Optimal Feedback Controllers

Y. Chen, L. Roveda and D.J. Braun, Efficiently Computable Constrained Optimal Feedback Controllers, IEEE Robotics and Automation Letters, vol. 4, no. 1, pp. 121-128, 2018. Constrained optimal feedback controllers can be used…

Positive-Negative Stiffness Actuators

D.J. Braun, V. Chalvet and A. Dahiya, Positive-Negative Stiffness Actuators, IEEE Transactions on Robotics, vol. 35, no. 1, pp. 162-173, 2018. Compliant actuators are typically designed to possess a tunable positive stiffness characteristic…

Stiffness Modulator: A Novel Actuator for Human Augmentation

H.-F. Lau, A. Sutrisno, T.-H. Chong, D.J. Braun, Stiffness Modulator: A Novel Actuator for Human Augmentation, IEEE International Conference on Robotics and Automation, pp. 7742-7748, 2018. Stiffness modulators are devices that promote…

Algorithmic Design of Low Power Variable Stiffness Mechanisms

V. Chalvet and D.J. Braun, Algorithmic Design of Low Power Variable Stiffness Mechanisms, IEEE Transactions on Robotics, vol. 33, no. 6, pp. 1508-1515, 2017. Compliant actuators enabling low-power stiffness adaptation are missing ingredients…

Analytical Conditions for the Design of Variable Stiffness Mechanisms

C. Tze-Hao, V. Chalvet and D.J. Braun, Analytical Conditions for the Design of Variable Stiffness Mechanisms, IEEE International Conference on Robotics and Automation, Singapore, SG, pp. 1241-1247, May 2017. This paper introduces…

Efficiently Tuneable Positive-Negative Stiffness Actuator

A. Dahiya and D.J. Braun, Efficiently Tunable Positive-Negative Stiffness Actuator, IEEE International Conference on Robotics and Automation, Singapore, SG, pp. 1235-1240, May 2017. Compliant actuators have found their place in areas of prosthetics,…

Criterion for the Design of Low Power Variable Stiffness Mechanisms

V. Chalvet and D.J. Braun, Criterion for the Design of Low Power Variable Stiffness Mechanisms, IEEE Transactions on Robotics, vol. 33, no. 4, 1002-1010, 2017. Designing robotic systems capable of low-power operation, inherent…

Spatio-Temporal Stiffness Optimization in Movements with Switching Dynamics

J. Nakanishi, A. Radulescu, D.J. Braun and S. Vijayakumar, Spatio-Temporal Stiffness Optimization in Movements with Switching Dynamics, Autonomous Robots, vol. 41, no. 2, pp. 273-291, 2017. We address the optimal control problem…

Self-tuning Bistable Parametric Oscillator: Near-optimal Amplitude Maximization without Model Information

D.J. Braun, A. Sutas and S. Vijayakumar, Self-tuning Bistable Parametric Oscillator: Near-optimal Amplitude Maximization without Model Information, Physical Review E, 95, 012201, 2017. Theory predicts that parametrically excited oscillators, tuned to operate…