Learning Finite-Horizon Optimal Control with Unknown Control-Affine Dynamics
Y. Chen, Y. Li and D.J. Braun, Learning Finite-Horizon Nonlinear Optimal Control Policies with Unknown Control-Affine Dynamics (under review).
Category Publications
Energy Minimization using Custom-Designed Magnetic-Spring Actuators
Y. Y. Fu, A.U. Kilic and D.J. Braun, Energy Minimization using Custom-Designed Magnetic-Spring Actuators, IEEE International Conference on Intelligent Robots and Systems, pp. 3534-3539, October 14 – 18, Abu Dhabi, United Arab Emirates, 2024.
A Novel Approximation for the Spring Loaded Inverted Pendulum Model of Locomotion
A.U. Kilic and D.J. Braun, A Novel Approximation for the Spring-Loaded Inverted Pendulum Model of Locomotion, IEEE International Conference on Intelligent Robots and Systems, pp. 4315-4321, October 1 – 5, Detroit, MI, USA, 2023.
Human Adaptable Variable Stiffness Springs
D. Braun, C. W. Mathews, Human Adaptable Variable Stiffness Springs, US Patent Application 18/226,204, 2023.
Variable Stiffness Floating Spring Leg: Performing net-zero energy cost tasks not achievable using fixed stiffness springs
S.Y. Kim and D.J. Braun, Variable Stiffness Floating Spring Leg: Performing net-zero energy cost tasks not achievable using fixed stiffness springs, vol. 8, no. 9, pp. 5400-5407, 2023.
Controllable Mechanical-domain Energy Accumulators
S.Y. Kim and D.J. Braun, Controllable Mechanical-domain Energy Accumulators, IEEE International Conference on Robotics and Automation, London, United Kingdom, pp. 7359-7364, 2023.
Design of a Variable Stiffness Spring with Human-Selectable Stiffness
C. Mathews and D.J. Braun, Design of a Variable Stiffness Spring with Human-Selectable Stiffness, IEEE International Conference on Robotics and Automation, London, United Kingdom, pp. 7385-7390, 2023.
Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints
C. Dempsey and D.J. Braun, Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints, IEEE International Conference on Robotics and Automation, London, United Kingdom, pp. 7391-7397, 2023.
Method and Apparatus for Human Augmentation and Robot Actuation
D. Braun, C. W. Mathews, Method and apparatus for human augmentation and robot actuation, US Patent 17/872,164, 2022.
Variable Stiffness Mechanisms for low Energy Cost Stiffness Modulation
D. Braun, S. Kim, Variable Stiffness Mechanisms for low Energy Cost Stiffness Modulation, US Patent Application 17/506,164, 2021.
Method and Apparatus for Augmented Locomotion
D. Braun, A. Sutrisno, and T. Zhang, Method and Apparatus for Augmented Locomotion, US Patent 17/127,080, 2020.
Data-Driven Iterative Optimal Control for Switched Dynamical Systems
Y. Chen, Y. Li, and D.J. Braun, Data-Driven Iterative Optimal Control for Switched Dynamical Systems, IEEE Robotics and Automation Letters, vol. 8, no. 1, pp. 296-303, 2023.
Design of Parallel Variable Stiffness Actuators
C. Mathews and D.J. Braun, Design of Parallel Variable Stiffness Actuators, IEEE Transactions on Robotics, vol. 39, no. 1, pp. 768-782, 2023.
Theory of Fast Walking With Human-Driven Load-Carrying Robot Exoskeletons
T. Zhang and D.J. Braun, Theory of Fast Walking With Human-Driven Load-Carrying Robot Exoskeletons, Transactions on Neural Systems and Rehabilitation Engineering, vol. 30, pp. 1971-1981, 2022.
Parallel Variable Stiffness Actuators
C.W. Mathews and D.J. Braun, Parallel Variable Stiffness Actuators, IEEE-RSJ International Conference on Intelligent Robots and Systems, pp. 8225-8231, 2021.
Human Driven Compliant Transmission Mechanism
T. Zhang and D.J. Braun, Human Driven Compliant Transmission Mechanism, IEEE International Conference on Robotics and Automation, pp. 7094-7099, 2021.
Iterative Online Optimal Feedback Control
Y. Chen and D.J. Braun, Iterative Online Optimal Feedback Control, vol. 66, no. 2, pp. 566-580, IEEE Transactions on Automatic Control, 2021.
Variable Stiffness Springs for Energy Storage Applications
S. Kim, T. Zhang, and D.J. Braun, Variable Stiffness Springs for Energy Storage Applications, IEEE International Conference on Robotics and Automation, Paris, FR, 2020.
The Hidden Potential of Energetically-Passive Exoskeletons
A. Sutrisno and D.J. Braun, The Hidden Potential of Energetically Passive Exoskeletons, Wearable Robotics: Challenges and Trends, Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, pp. 3-5, October 13–16, 2020.
How to Run 50% Faster without External Energy
A. Sutrisno and D.J. Braun, How to Run 50% Faster without External Energy, vol. 6, no. 13, eaay1950, Science Advances, 2020.
Operational Space Control under Actuation Constraints using Strictly Convex Optimization
D.J. Braun, Y. Chen, L. Li, Operational Space Control under Actuation Constraints using Strictly Convex Optimization, vol. 36, no. 1, pp. 302-309, IEEE Transactions on Robotics, 2019.
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.
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.
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.
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.
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.
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 on Neural Systems & Rehabilitation Engineering.
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.
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.