Conference Papers
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 presents…
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. This paper introduces a compliant actuator design that achieves both…
Optimal torque and stiffness control in compliantly actuated robots
D.J. Braun, F. Petit, F. Huber, S. Haddadin, P. Smagt, A. Albu-Schaffer, and S. Vijayakumar, Optimal torque and stiffness control in compliantly actuated robots, IEEE/RSJ International Conference on Intelligent Robots and…
Exploiting variable physical damping in rapid movement tasks
A. Radulescu, M. Howard, D.J. Braun, and S. Vijayakumar, Exploiting variable physical damping in rapid movement tasks, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Kaohsiung, TWN, pp. 141–148, July 2012. Best…
Exploiting variable stiffness in explosive movement tasks
D.J. Braun, M. Howard, and S. Vijayakumar, Exploiting variable stiffness in explosive movement tasks, Robotics: Science and Systems, Los Angeles, USA, June/July 2011. This paper applies optimal control to coordinate torque and…
Constraint-based equilibrium and stiffness control of variable stiffness actuators
M. Howard, D.J. Braun, and S. Vijayakumar, Constraint-based equilibrium and stiffness control of variable stiffness actuators, IEEE International Conference on Robotics and Automation, Shanghai, CN, pp. 5554–5560, May 2011. This paper presents…
A Controller for Dynamic Walking in Bipedal Robots
D.J. Braun and M. Goldfarb, A controller for dynamic walking in bipedal robots, IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, pp. 2916–2921, October 2009. This paper presents a…
Actuated Dynamic Walking in Biped Robots: Control Approach, Robot Design and Experimental Validation
D. J. Braun, J. E. Mitchell, and M. Goldfarb, Actuated dynamic walking in biped robots: Control approach, robot design and experimental validation, IEEE-RAS International Conference on Humanoid Robots, Paris, FR, pp. 237–242,…