Publications
Welcome to my collection of robotics research publications. My work focuses on mechanically adaptive robotics, optimal control, actuator design, and the theory of human performance augmentation—pushing the boundaries of intelligent systems and automation. Through peer-reviewed articles, conference papers, and patents, I share insights into the challenges and breakthroughs driving robot autonomy and adaptive technology. Explore my latest research and discover how these innovations are shaping the future of robotics.
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. This paper introduces a physical measure for identifying mechanical designs that achieve stiffness modulation with low power cost. Using this measure, the authors…
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. This paper presents a method for optimizing robotic movements that involve variable stiffness actuation, switching dynamics, and discontinuous state transitions such…
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. This paper introduces a self-tuning principle for parametrically excited oscillators that enables large-amplitude oscillations without relying on detailed models. The approach combines slow parameter…
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 Foundations of Movements, Springer Tracts in Advanced Robotics, vol. 117, pp. 393-419, 2017. This chapter…
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. This paper introduces a minimalistic compliant actuator designed to achieve wide-range impedance modulation with very low energy…
Optimal Parametric Feedback Excitation of Nonlinear Oscillators
D.J. Braun, Optimal parametric feedback excitation of nonlinear oscillators, Physical Review Letters, 116, 044102, 2016. This paper introduces an optimal parametric feedback excitation principle that creates an adaptive resonance condition for nonlinear oscillators. The approach enables robust movement generation without requiring model information, signal processing, or complex…
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. 29, no. 5, pp. 1085-1101, 2013. This paper is recipient of the 2013 King-Sun Fu IEEE Transactions…
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 human impedance modulation strategies can be transferred to robots equipped with variable impedance actuators (VIAs).…
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 framework for robots with compliant actuation, focusing on how to coordinate motion and tailor time-varying…
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 equation of motion for simulating constrained mechanical systems with holonomic and nonholonomic constraints. The formulation…
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 integration method for differential algebraic equations in simulations of constrained mechanical systems. Building on the…
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 method for bipedal walking that does not rely on joint trajectory tracking or…