Journal Papers
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…
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…
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…
Optimal Control of Variable Stiffness Policies: Dealing with Switching Dynamics and Model Mismatch
A. Radulescu, J. Nakanishi, D.J. Braun and S. Vijayakumar, Optimal Control of Variable Stiffness Policies: Dealing with Switching Dynamics and Model Mismatch, J. P. Laumond, N. Mansard, J.B. Lasserre, Geometric and Numerical…
Compliant Actuation for Energy Efficient Impedance Modulation
D. J. Braun, S. Apte, O. Adiyatov, A. Dahiya and N. Hogan, Compliant actuation for energy efficient impedance modulation, IEEE International Conference on Robotics and Automation, pp. 636-641, 2016. Energy efficient…
Optimal Parametric Feedback Excitation of Nonlinear Oscillators
D.J. Braun, Optimal parametric feedback excitation of nonlinear oscillators, Physical Review Letters, 116, 044102, 2016. An optimal parametric feedback excitation principle is sought, found, and investigated. The principle is shown to provide…
Robots Driven by Compliant Actuators: Optimal Control under Actuation Constraints
D.J. Braun, F. Petit, F. Huber, S. Haddadin, P. van der Smagt, A. Albu-Schaffer and S. Vijayakumar, Robots Driven by Compliant Actuators: Optimal Control under Actuation Constraints, IEEE Transactions on Robotics, vol.…