Journal Papers
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.…
Transferring Human Impedance Behavior to Heterogeneous Variable Impedance Actuators
M. Howard, D.J. Braun, and S. Vijayakumar, Transferring human impedance behavior to heterogeneous variable impedance actuators, IEEE Transactions on Robotics, vol. 29, no. 4, pp. 847-862, 2013. This paper investigates how…
Optimal Variable Stiffness Control: Formulation and Application to Explosive Movement Tasks
D. J. Braun, M. Howard and S. Vijayakumar, Optimal Variable Stiffness Control: Formulation and Application to Explosive Movement Tasks, Autonomous Robots, vol. 33, no.3, pp. 237-253, 2012. This paper presents an optimal control…
Simulation of Constrained Mechanical Systems – Part I: An Equation of Motion
D.J. Braun and M. Goldfarb, Simulation of Constrained Mechanical Systems – Part I: An Equation of Motion, ASME Journal of Applied Mechanics, vol. 79, issue 4, 041017, 2012. This paper introduces an…
Simulation of Constrained Mechanical Systems – Part II: Explicit Numerical Integration
D.J. Braun and M. Goldfarb, Simulation of Constrained Mechanical Systems – Part II: Explicit Numerical Integration, ASME Journal of Applied Mechanics, vol. 79, issue 4, 041018, 2012. This paper presents an explicit…
Actuated Dynamic Walking in a Seven-Link Biped Robot
D.J. Braun, Jason E. Mitchell and M. Goldfarb, Actuated Dynamic Walking in a Seven-Link Biped Robot, IEEE/ASME Transactions on Mechatronics, vol. 17, no.1, pp. 147-156, 2012. This paper presents experimental validation of…
A Control Approach for Actuated Dynamics Walking in Biped Robots
D.J. Braun, M. Goldfarb, A Control Approach for Actuated Dynamics Walking in Biped Robots, IEEE Transactions on Robotics, vol. 25, no. 6, pp. 1292-1303, 2009. This paper presents a closed-loop control method…
Elimination of Constrained Drift in the Numerical Simulation of Constrained Dynamical Systems
D.J. Braun, M. Goldfarb, Elimination of Constrained Drift in the Numerical Simulation of Constrained Dynamical Systems, Computer Methods in Applied Mechanics and Engineering, vol. 198, no. 37-40, pp. 3151-3160, 2009. This paper…
Adaptive steady-state stabilization for nonlinear dynamical systems
D.J. Braun, Adaptive steady-state stabilization for nonlinear dynamical systems, Physical Review E, vol. 78, no. 1, p. 016213, 2008. Reply to Comment on Adaptive steady-state stabilization for nonlinear dynamical systems, Physical Review E,…
On the Optimal Shape of a Compressed Rotating Rod with Shear and Extensibility
D.J. Braun, On the Optimal Shape of Compressed Rotating Rod with Shear and Extensibility, International Journal of Non-linear Mechanics, vol. 43, no. 2, pp. 131–139, 2008. This paper investigates the optimal shape…
The Strongest Rotating Rod
T. M. Atanackovic and D.J. Braun, The strongest rotating rod, International Journal of Non-linear Mechanics, vol. 40, pp. 747–754, 2005. This paper develops a variational formulation for determining the optimal shape of…