Publications
Stiffness Modulator: A Novel Actuator for Human Augmentation
H.-F. Lau, A. Sutrisno, T.-H. Chong, D.J. Braun, Stiffness Modulator: A Novel Actuator for Human Augmentation, IEEE International Conference on Robotics and Automation, pp. 7742-7748, 2018.
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.
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.
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.
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.
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.
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.
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.
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.
Optimal Parametric Feedback Excitation of Nonlinear Oscillators
D.J. Braun, Optimal parametric feedback excitation of nonlinear oscillators, Physical Review Letters, 116, 044102, 2016.
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 on Robotics Best Paper Award.
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.
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.
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.
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.