Publications
Learning Finite-Horizon Nonlinear Optimal Control Policies with Unknown Control-Affine Dynamics
D.J. Braun, Y. Chen, and Y. Li, Learning Finite-Horizon Nonlinear Optimal Control Policies with Unknown Control-Affine Dynamics (under review).
A Novel Approximation for the Spring Loaded Inverted Pendulum Model of Locomotion
A.U. Kilic and D.J. Braun, A Novel Approximation for the Spring Loaded Inverted Pendulum Model of Locomotion, Detroit, MI, USA, pp. 4315-4321, 2023.
Variable Stiffness Floating Spring Leg: Performing net-zero energy cost tasks not achievable using fixed stiffness springs
S.Y. Kim and D.J. Braun, Variable Stiffness Floating Spring Leg: Performing net-zero energy cost tasks not achievable using fixed stiffness springs, vol. 8, no. 9, pp. 5400-5407, 2023.
Controllable Mechanical-domain Energy Accumulators
S.Y. Kim and D.J. Braun, Controllable Mechanical-domain Energy Accumulators, IEEE International Conference on Robotics and Automation, London, United Kingdom, pp. 7359-7364, 2023.
Design of a Variable Stiffness Spring with Human-Selectable Stiffness
C. Mathews and D.J. Braun, Design of a Variable Stiffness Spring with Human-Selectable Stiffness, IEEE International Conference on Robotics and Automation, London, United Kingdom, pp. 7385-7390, 2023.
Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints
C. Dempsey and D.J. Braun, Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints, IEEE International Conference on Robotics and Automation, London, United Kingdom, pp. 7391-7397, 2023.
Method and Apparatus for Human Augmentation and Robot Actuation
D Braun, C. W Mathews, Method and apparatus for human augmentation and robot actuation, US Patent App. 17/872,164, 2023.
Method and Apparatus for Augmented Locomotion
D Braun, A Sutrisno, and T Zhang, Method and Apparatus for Augmented Locomotion, US Patent 11,439,564, 2022.
Variable Stiffness Mechanisms for low Energy Cost Stiffness Modulation
D Braun, S Kim, Variable Stiffness Mechanisms for low Energy Cost Stiffness Modulation, US Patent App. 17/506,164, 2022.
Data-Driven Iterative Optimal Control for Switched Dynamical Systems
Y. Chen, Y. Li, and D.J. Braun, Data-Driven Iterative Optimal Control for Switched Dynamical Systems, IEEE Robotics and Automation Letters, vol. 8, no. 1, pp. 296-303, 2023.
Design of Parallel Variable Stiffness Actuators
C. Mathews and D.J. Braun, Design of Parallel Variable Stiffness Actuators, IEEE Transactions on Robotics, vol. 39, no. 1, pp. 768-782, 2023.
Theory of Fast Walking With Human-Driven Load-Carrying Robot Exoskeletons
T. Zhang and D.J. Braun, Theory of Fast Walking With Human-Driven Load-Carrying Robot Exoskeletons, Transactions on Neural Systems and Rehabilitation Engineering, vol. 30, pp. 1971-1981, 2022.
Parallel Variable Stiffness Actuators
C.W. Mathews and D.J. Braun, Parallel Variable Stiffness Actuators, IEEE-RSJ International Conference on Intelligent Robots and Systems, pp. 8225-8231, 2021.
Human Driven Compliant Transmission Mechanism
T. Zhang and D.J. Braun, Human Driven Compliant Transmission Mechanism, IEEE International Conference on Robotics and Automation, pp. 7094-7099, 2021.
Iterative Online Optimal Feedback Control
Y. Chen and D.J. Braun, Iterative Online Optimal Feedback Control, vol. 66, no. 2, pp. 566-580, IEEE Transactions on Automatic Control, 2021.