Category Publications
Energy Minimization using Custom-Designed Magnetic-Spring Actuators
A Novel Approximation for the Spring Loaded Inverted Pendulum Model of Locomotion
Variable Stiffness Floating Spring Leg: Performing net-zero energy cost tasks not achievable using fixed stiffness springs
Controllable Mechanical-domain Energy Accumulators
Design of a Variable Stiffness Spring with Human-Selectable Stiffness
Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints
Method and Apparatus for Human Augmentation and Robot Actuation
Method and Apparatus for Augmented Locomotion
Variable Stiffness Mechanisms for low Energy Cost Stiffness Modulation
Data-Driven Iterative Optimal Control for Switched Dynamical Systems
Design of Parallel Variable Stiffness Actuators
Theory of Fast Walking With Human-Driven Load-Carrying Robot Exoskeletons
Parallel Variable Stiffness Actuators
Human Driven Compliant Transmission Mechanism
Iterative Online Optimal Feedback Control
Variable Stiffness Springs for Energy Storage Applications
The Hidden Potential of Energetically-Passive Exoskeletons
How to Run 50% Faster without External Energy
Operational Space Control under Actuation Constraints using Strictly Convex Optimization
Hardware-in-the-Loop Iterative Optimal Feedback Control without Model-based Future Prediction
Variable Stiffness Spring Actuators for Low Energy Cost Stiffness Modulation
Multiphase and Multivariable Linear Controllers that Account for the Joint Torques in Normal Human Walking
Algorithmic Resolution of Multiple Impacts in Non-smooth Mechanical Systems with Switching Constraints
Constrained Feedback Control by Prioritized Multi-objective Optimization
A Phase-Invariant Linear Torque-Angle-Velocity Relation Hidden in the Human Walking Data
Enhancing Mobility with Quasi-passive Variable Stiffness Exoskeletons
Reinforcement Learning for a Class of Continuous-time Input Constrained Optimal Control Problems
Efficiently Computable Constrained Optimal Feedback Controllers
