Welcome to the Braun Lab for Robotics!
We are dedicated to pushing the boundaries of robotics to create machines that interact with the world in new and exciting ways. Our work encompasses a wide range of projects, from developing algorithms that enable robots to mimic human motion to building custom hardware that can enhance robot and human mobility. Whether you are a fellow researcher, a student, or simply curious about the future of robotics, I invite you to explore our website and discover the exciting possibilities that lie ahead.
Research
Our research is focused on the optimal control and the optimal design of Mechanically Adaptive Robots which are machines that can adapt and improve through repeated experiences, similar to humans. We work on control algorithms to enable the real-time optimal control of robots, and the actuators enabling the design of mechanically adaptive robots. We focus on the theory and design of devices – actuators, robot limbs, exoskeletons – that can improve robot autonomy and human mobility. The multidisciplinary research conducted in my laboratory was previously funded by the Singaporean Ministry of Education and is currently funded by the National Science Foundation.
Highlights
News
Dr. Braun will be Editor for IEEE BioRob 2024.
Please join us for the IEEE IROS 2023 Workshop titled ‘No More Slow Flexible Robots.’ During the workshop, I will be discussing new concepts for compliant robot actuators and how they can be utilized to create more capable robots.
Our paper on energetically passive variable stiffness springs has been published in IEEE RAL. This paper introduces an innovative variable stiffness spring technology, currently the subject of a pending patent application.
Our paper on locomotion models is accepted at IEEE IROS 2023. The paper introduces a new approximation to the spring loaded inverted pendulum model of locomotion.
We are grateful to have received NSF support for an undergraduate summer research project focused on the optimization of spring designs.
Professor Koushil Sreenath from UC Berkeley delivered an engaging talk at Vanderbilt University, discussing the control and learning of legged robot locomotion and showcasing its exciting possibilities.
Dr. Braun will be Section Chair at IEEE ICRA 2023.
Our IEEE RAL paper on data driven optimal control will be presented at IEEE ICRA 2023.
Our paper on data driven optimal control of switching dynamical systems is published in IEEE RAL. The method utilizes our hardware-in-the-loop optimal control approach, effectively mitigating the simulation reality gap.
We are excited to announce that three of our papers were accepted for presentation at IEEE ICRA 2023. The first paper introduces a mechanical alternative to conventional batteries. In the second paper, we detail a novel human-driven variable stiffness spring that allows for energy accumulation through the repetitive application of a small constant force. The third paper presents a variable stiffness robot hip joint that can be adjusted by a human user, akin to shifting gears on a bicycle. The innovations presented in these works are currently the subject of a pending patent application.
Our paper, “Design of Parallel Variable Stiffness Actuators,” is now published in IEEE TRO. This innovative actuator, with a variable stiffness spring in parallel with a direct-drive motor, offers precise force control and controllable energy storage, making it ideal for a wide range of robotic applications, including walking, jumping, running, swimming robots, and robotic exoskeletons, enabling resonant forcing within joint angle limitations.
Our paper, titled “Theory of Fast Walking With Human-Driven Load-Carrying Robot Exoskeletons,” has been published in IEEE TNSRE. The model suggests the potential for individuals to accelerate heavy backpacks to race-walking speeds without the need for external energy sources, offering exciting possibilities for future research in human mobility.
Dr. Braun receives the NSF CAREER Award for his foundational research in Mechanically Adaptive Robotics. “This five-year grant will enable us to establish the theoretical foundation of robots that can enhance human physical ability.”
We are excited to share that two of our research papers have been accepted for presentation at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021. These papers introduce innovative concepts, namely ‘Parallel Variable Stiffness Actuators‘ and ‘Floating Springs,’ which enable the effortless modulation of spring stiffness independently of the stored energy. These developments hold great promise for the fields of robotics and energy technology.
We have received the Seeding Success Grant from Vanderbilt University for our project, “Catapult Legs: Enhancing Human Physical Ability with Robotic Limbs.” This research endeavor will focus on exploring variable stiffness limb designs for both robotic systems and humans.
Our paper on ”Human Driven Compliant Transmission Mechanisms” is accepted at IEEE ICRA 2021.
Dr. Braun will serve as Associate Editor for IEEE ICRA 2021.
Dr. Braun is invited speaker at the IEEE IROS 2020 Workshop on Learning Impedance Modulation for Physical Interaction: Insights from Humans and Advances in Robotics.
Dr. Braun has been awarded the NSF CMMI/DCSD Award to establish the ‘Robots Teaching Robots‘ control paradigm. This project aims to create a systematic control framework that allows robots to teach each other, similar to how parents teach children.
Amanda will deliver an invited talk at WeRob2020. The title of her talk is: ”The Hidden Potential of Energetically Passive Exoskeletons”.
Imagine running faster, not by increasing your physical effort, but by harnessing the power of cycling. In a study featured in The Conversation US, we introduce a concept that could redefine human speed: the ‘robo-boot.’ This innovation, inspired by bicycles, has the potential to propel runners to speeds of up without using motors and batteries, with implications spanning from the future of fast and versatile legged transportation to the world of sports.
Our research on the theory of robot exoskeletons garnered significant attention from various news outlets, including The Guardian, Inverse, New Scientist, Next Big Future, Die Welt, German Technology Review, and The Skeptics Guide to the Universe.
Our Paper, “How to Run 50% Faster without External Energy”, is accepted in Science Advances.
Our paper, titled ‘Variable Stiffness Springs for Energy Storage Applications,’ has been accepted for presentation at IEEE ICRA 2020. This research explores compliant actuators and their potential in the realm of energy storage.
Dr. Braun will serve as Associate Editor for IEEE ICRA 2020.
Our paper on Constrained Operational Space Control has been accepted by IEEE TRO. This paper presents a rigorous extension of the Operational Space Control method tailored for systems with actuation constraints.
Our team has reached a remarkable milestone with the successful development of a prototype variable-length leaf-spring actuator, capable of remarkable stiffness modulation while maintaining minimal energy consumption. Rigorous testing in demanding human-machine collaborative tasks has showcased its potential to enhance human capabilities with exceptional energy efficiency. This achievement, now published in IEEE T-RO, holds great promise for the future of human augmentation and was made possible through collaboration with The Newman Laboratory for Biomechanics and Human Rehabilitation at MIT.
We are delighted to announce the publication of our recent paper, ‘Hardware-in-the-Loop Iterative Optimal Feedback Control Without Model-Based Future Prediction. Our approach offers a glimpse into a future where control systems are more efficient and adaptable, without the need for intricate forecasting. To gain deeper insights into the future of robotics technology, we invite you to explore our research paper published in IEEE T-RO.
The Dynamics and Control Lab moves from Singapore to the Advanced Robotics and Control Laboratory at Vanderbilt.
Dr. Braun takes the helm of the inspiring week-long Control and Design Challenge at Singapore University of Technology and Design.
Breaking Boundaries in Research: Our Hands-On Work Takes Center Stage on a Billboard at Singapore University of Technology and Design!
Our research, highlighted in IEEE Transactions on Neural Systems and Rehabilitation Engineering (TNSRE), introduces a paradigm shift in mobility enhancement. While traditional shoes prioritize comfort over mobility, and current exoskeletons face biological constraints, our quasi-passive variable stiffness spring exoskeletons decouple kinetic energy from limb deflection and force generation. This groundbreaking approach offers new possibilities in demanding tasks, elevating speed, and reducing energy costs. Explore our research in detail in IEEE TNSRE.
Our research introduces a groundbreaking Reinforcement Learning (RL) framework for solving input-constrained optimal control problems. By extending the applicability of RL, we’re driving advancements in the field and offering promising solutions for a wide range of continuous-time systems. Discover more in our latest paper: ‘Reinforcement Learning for a Class of Continuous-time Input Constrained Optimal Control Problems,’ published in Automatica.
Advancing Actuator Technology: Our Positive-Negative Stiffness Actuator, as detailed in a recent IEEE T-RO research paper, combines positive and negative stiffness into a single unit. This innovation simplifies control, allowing open-loop stiffness modulation and equilibrium position control with just one motor. It promises to advance various fields, including robotics and energy-efficient technology.
We are thrilled to share that our research, ‘Efficiently Computable Constrained Optimal Feedback Controllers,’ has been accepted by the IEEE Robotics and Automation Letters. In this study, we introduce two locally optimal feedback controllers for real-time implementation.
I had the privilege of delivering an invited talk at Vanderbilt University, where we delved into the latest advances in the control and design of robots.
We had a wonderful time at the Robotics: Science and Systems review meeting hosted at Cornell University. I extend our heartfelt thanks to UPenn Professor Ani Hsieh for insightful discussions and for making the effort to drive from Philadelphia to Ithaca when our flight was canceled.
It was an absolute honor to present an invited talk at Carnegie Mellon University. The focus of the discussion was our work on the ‘Hardware-in-the-Loop Optimal Control Method.’
Dr. Braun is invited speaker at IEEE ICRA 2018 Workshop on Soft Robotics for Rehabilitation Applications: Design, Material and Control.
We have two papers accepted at IEEE ICRA 2018. The papers discuss the algorithmic design of compliant actuators and introduce a new type of torsional leaf spring actuator.
Dr. Braun is Area Chair for the 2018 Robotics: Science and Systems Conference.
Dr. Braun receives the MOE Tier 2 Academic Research Fund from the Singaporean Ministry of Education to advance the field of Optimal Control in Robotics.
Dr. Braun is invited speaker at IEEE ICRA 2017 Workshop on Recent Advances in Dynamics for Industrial Applications.
We have two accepted papers at IEEE ICRA 2017. The papers discuss the analytical design of compliant actuators and introduce a new type of negative stiffness actuator.
Dr. Braun is invited speaker at the IEEE ICRA 2017 Workshop on the Mechanics of Human Locomotion and the Development of Wearable Robotic Systems.
Our paper on Adaptive Optimal Parametric Excitation has been accepted in Physical Review E. This work introduces a data-driven self-tuning algorithm for achieving parametric resonance in bi-stable oscillators. The method holds promise for signal amplification, energy harvesting, as well as, robot control with small actuators.
Dr. Braun will deliver an engaging seminar at the SUTD-MIT International Design Center at SUTD Singapore. He will delve into our efforts to develop next-generation compliant robot actuators, aimed at creating energy-efficient robots for the future.
Dr. Braun will serve as Associate Editor for IEEE BioRob 2016.
Our paper on Energy Efficient Impedance Modulation was accepted at IEEE ICRA 2016. We are appreciative for the collaboration with Professor Neville Hogan from MIT.
Our theoretical work on Optimal Parametric Excitation is now accepted in Physical Review Letters. The paper describes a model-free and yet optimal method to achieve parametric resonance.
We have received two (MOE-T1) grants from the Singaporean Ministry of Education and the Changi General Hospital for research on Robot Exoskeletons. These grants will enable us to advance our work in this exciting field.
Professor Thomas Peacock from MIT delivered an invited talk at Singapore University of Technology and Design on the topic of fluid dynamics. I extend my gratitude to Tom for the enlightening discussions on non-intuitive problems in dynamics.
Dr. Braun delivers an invited talk at the 2015 Asian Robotics Week in Marina Bay Sands Singapore.
Professor Michael Goldfarb from Vanderbilt University will be delivering an invited talk at Singapore University of Technology and Design. We look forward to learning about the latest advances in human rehabilitation.
Dr. Braun will serve as the Scientific Program Co-Chair for IEEE ICORR 2015.
Our energy-efficient compliant actuator is now on display at the ArtScience Museum in Singapore. This exhibition showcases our commitment to merging technology and art to inspire and inform.
Dr. Braun has been awarded an SUTD-MIT International Design Center Grant for the development of Energy Efficient Compliant Actuators. This collaborative project brings together the Dynamics and Control Laboratory in Singapore and the Newman Laboratory at MIT.
I am thrilled to introduce a new undergraduate course at Singapore University of Technology and Design: 30.104 Dynamics. Join me on this academic journey as we explore the fascinating world of dynamics at SUTD.
Dr. Braun receives the IEEE TRO Best Paper Award. The award recognizes the best paper published annually in the IEEE Transactions on Robotics based on technical merit, originality, potential impact on the field, clarity of presentation, and practical significance for applications.
I am delighted to announce the launch of a new graduate course at Singapore University of Technology and Design: 30.508 Optimization and Control. Explore this exciting opportunity to expand your knowledge and skills at SUTD.
Welcome to the newly established Dynamics and Control Laboratory at Singapore University of Technology and Design.