Category Journal Papers
Variable Stiffness Floating Spring Leg: Performing net-zero energy cost tasks not achievable using fixed stiffness springs
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
Iterative Online Optimal Feedback Control
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
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
