David J. Braun

Publication Activity (10 Years)

Years Active: 2009-2023
Publications (10 Years): 33

Top Topics

Feedback Control

Inverted Pendulum

Optimal Control

Negative Samples

Top Venues

IEEE Trans. Robotics

IEEE Robotics Autom. Lett.

Publications

Cole A. Dempsey, David J. Braun
Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints. ICRA (2023)
Yuqing Chen, Yangzhi Li, David J. Braun
Data-Driven Iterative Optimal Control for Switched Dynamical Systems. IEEE Robotics Autom. Lett. 8 (1) (2023)
Sung Y. Kim, David J. Braun
Controllable Mechanical-domain Energy Accumulators. ICRA (2023)
Chase W. Mathews, David J. Braun
Design of Parallel Variable Stiffness Actuators. IEEE Trans. Robotics 39 (1) (2023)
Sung Y. Kim, David J. Braun
Variable Stiffness Floating Spring Leg: Performing Net-Zero Energy Cost Tasks Not Achievable Using Fixed Stiffness Springs. IEEE Robotics Autom. Lett. 8 (9) (2023)
Chase W. Mathews, David J. Braun
Design of a Variable Stiffness Spring with Human-Selectable Stiffness. ICRA (2023)
Ali U. Kilic, David J. Braun
A Novel Approximation for the Spring Loaded Inverted Pendulum Model of Locomotion. IROS (2023)
Chase W. Mathews, David J. Braun
Design of a Variable Stiffness Spring with Human-Selectable Stiffness. CoRR (2023)
Cole A. Dempsey, David J. Braun
Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints. CoRR (2022)
Evangelos Chatziandreou, Chase W. Mathews, David J. Braun
Design of a Parallel Elastic Actuator with a Continuously-Adjustable Equilibrium Position. CoRR (2022)
Sung Y. Kim, David J. Braun
Controllable Mechanical-domain Energy Accumulators. CoRR (2022)
Amanda Sutrisno, David J. Braun
High-energy-density 3D-printed Composite Springs for Lightweight and Energy-efficient Compliant Robots. CoRR (2022)
Yuqing Chen, David J. Braun
Iterative Online Optimal Feedback Control. IEEE Trans. Autom. Control. 66 (2) (2021)
Sung Y. Kim, David J. Braun
Novel Variable Stiffness Spring Mechanism: Modulating Stiffness Independent of the Energy Stored by the Spring. IROS (2021)
Chase W. Mathews, David J. Braun
Parallel Variable Stiffness Actuators. IROS (2021)
Tiange Zhang, David J. Braun
Human Driven Compliant Transmission Mechanism. ICRA (2021)
Sung Y. Kim, Tiange Zhang, David J. Braun
Variable Stiffness Springs for Energy Storage Applications. ICRA (2020)
Evrim S. Altinkaynak, Gemma Roig, David J. Braun
Multiphase and Multivariable Linear Controllers That Account for the Joint Torques in Normal Human Walking. IEEE Trans. Biomed. Eng. 67 (6) (2020)
David J. Braun, Yuqing Chen, Linfeng Li
Operational Space Control Under Actuation Constraints Using Strictly Convex Optimization. IEEE Trans. Robotics 36 (1) (2020)
Yangzhi Li, Haoyong Yu, David J. Braun
Algorithmic Resolution of Multiple Impacts in Nonsmooth Mechanical Systems with Switching Constraints. ICRA (2019)
David J. Braun, Vincent Chalvet, Abhinav Dahiya
Positive-Negative Stiffness Actuators. IEEE Trans. Robotics 35 (1) (2019)
Yuqing Chen, Loris Roveda, David J. Braun
Efficiently Computable Constrained Optimal Feedback Controllers. IEEE Robotics Autom. Lett. 4 (1) (2019)
Yuqing Chen, David J. Braun
Hardware-in-the-Loop Iterative Optimal Feedback Control Without Model-Based Future Prediction. IEEE Trans. Robotics 35 (6) (2019)
Linfeng Li, David J. Braun
Constrained Feedback Control by Prioritized Multi-objective Optimization. ICRA (2019)
David J. Braun, Vincent Chalvet, Tze Hao Chong, Salil S. Apte, Neville Hogan
Variable Stiffness Spring Actuators for Low-Energy-Cost Human Augmentation. IEEE Trans. Robotics 35 (6) (2019)
Farnaz Adib Yaghmaie, David J. Braun
Reinforcement learning for a class of continuous-time input constrained optimal control problems. Autom. 99 (2019)
Hong Fai Lau, Amanda Sutrisno, Tze Hao Chong, David J. Braun
Stiffness Modulator: A Novel Actuator for Human Augmentation. ICRA (2018)
Abhinav Dahiya, David J. Braun
Efficiently tunable positive-negative stiffness actuator. ICRA (2017)
Jun Nakanishi, Andreea Radulescu, David J. Braun, Sethu Vijayakumar
Spatio-temporal stiffness optimization with switching dynamics. Auton. Robots 41 (2) (2017)
Vincent Chalvet, David J. Braun
Algorithmic Design of Low-Power Variable-Stiffness Mechanisms. IEEE Trans. Robotics 33 (6) (2017)
Vincent Chalvet, David J. Braun
Criterion for the Design of Low-Power Variable Stiffness Mechanisms. IEEE Trans. Robotics 33 (4) (2017)
Tze Hao Chong, Vincent Chalvet, David J. Braun
Analytical conditions for the design of variable stiffness mechanisms. ICRA (2017)
David J. Braun, Salil S. Apte, Olzhas Adiyatov, Abhinav Dahiya, Neville Hogan
Compliant actuation for energy efficient impedance modulation. ICRA (2016)
David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar
Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints. IEEE Trans. Robotics 29 (5) (2013)
Matthew Howard, David J. Braun, Sethu Vijayakumar
Transferring Human Impedance Behavior to Heterogeneous Variable Impedance Actuators. IEEE Trans. Robotics 29 (4) (2013)
David J. Braun, Matthew Howard, Sethu Vijayakumar
Optimal variable stiffness control: formulation and application to explosive movement tasks. Auton. Robots 33 (3) (2012)
David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar
Optimal torque and stiffness control in compliantly actuated robots. IROS (2012)
David J. Braun, Matthew Howard, Sethu Vijayakumar
Exploiting Variable Stiffness in Explosive Movement Tasks. Robotics: Science and Systems (2011)
Matthew Howard, David J. Braun, Sethu Vijayakumar
Constraint-based equilibrium and stiffness control of variable stiffness actuators. ICRA (2011)
David J. Braun, Jason E. Mitchell, Michael Goldfarb
Actuated dynamic walking in biped robots: Control approach, robot design and experimental validation. Humanoids (2009)
David J. Braun, Michael Goldfarb
A controller for dynamic walking in bipedal robots. IROS (2009)
David J. Braun, Michael Goldfarb
A Control Approach for Actuated Dynamic Walking in Biped Robots. IEEE Trans. Robotics 25 (6) (2009)