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Publications

2021


  • C. W. Mathews and D. J. Braun, Parallel Variable Stiffness Actuators, IEEE-RSJ International Conference on Intelligent Robots and Systems, 2021 (Accepted). PDF
  • T. Zhang and D. J. Braun, Human Driven Compliant Transmission MechanismIEEE International Conference on Robotics and Automation, 2021 (Accepted). PDF
  • Y. Chen and D. J. Braun, Iterative Online Optimal Feedback Control, vol. 66, no. 2, pp. 566-580, IEEE Transactions on Automatic Control, 2021. PDF

2020


  • Y. Chen and D. J. Braun, Iterative Online Optimal Feedback Control, vol. 66, no. 2, pp. 566-580, IEEE Transactions on Automatic Control, 2021 (Accepted). PDF
  • S. Kim, T. Zhang, and D.J. Braun, Variable Stiffness Springs for Energy Storage ApplicationsIEEE International Conference on Robotics and Automation, Paris, FR, 2020.
  • Y. Chen and D. J. Braun, Hardware-in-the-Loop Iterative Optimal Feedback Control without Model-based Future Prediction, IEEE International Conference on Robotics and Automation, Paris, FR,  2020.
  • A. Sutrisno and D. J. Braun, How to Run 50% Faster without External Energy, vol. 6, no. 13, eaay1950, Science Advances, 2020. PDF

2019


  • D.J. Braun, Y.Chen, L. Li, Operational Space Control under Actuation Constraints using Strictly Convex Optimization, vol. 36, no. 1, pp. 302-309, IEEE Transactions on Robotics, 2019.
  • Y. Chen and D.J. Braun, Hardware-in-the-Loop Iterative Optimal Feedback Control without Model-based Future Prediction, vol. 35, no. 6, pp. 1419-1434, IEEE Transactions on Robotics, 2019.
  • D.J. Braun, V. Chalvet, Chong T.-H., S.S. Apte and N. Hogan, Variable Stiffness Spring Actuators for Low Energy Cost Stiffness Modulation, vol. 35, no. 6, pp. 1435-1449, IEEE Transactions on Robotics, 2019.
  • E.S. Altinkaynak and D.J. Braun, Multiphase and Multivariable Linear Controllers that Account for the Joint Torques in Normal Human Walking, IEEE Transactions on Biomedical Engineering, 2019.
  • Y. Li, H. Yu, and D.J. Braun, Algorithmic Resolution of Multiple Impacts in Nonsmooth Mechanical Systems with Switching Constraints, IEEE International Conference on Robotics and Automation, Montreal, CA, pp. 7639-7645, May 2019.
  • L. Li and D.J. Braun, Constrained Feedback Control by Prioritized Multi-objective Optimization, IEEE International Conference on Robotics and Automation, Montreal, CA, pp. 9496-9501, May 2019.
  • E.S. Altinkaynak and D.J. Braun, A Phase-Invariant Linear Torque-Angle-Velocity Relation Hidden in the Human Walking Data, vol. 27, no. 4, pp. 702-711, IEEE Transactions on Neural Systems & Rehabilitation Engineering, 2019.
  • A. Sutrisno and D.J. Braun, Enhancing Mobility with Quasi-passive Variable Stiffness Exoskeletons, IEEE Transactions on Neural Systems & Rehabilitation Engineering, vol. 27, no. 3, pp. 487-496, 2019. PDF This paper has been highlighted by IEEE Transactions on Neural Systems & Rehabilitation Engineering!
  • F. A. Yaghmaie and D.J. Braun, Reinforcement Learning for a Class of Continuous-time Input Constrained Optimal Control Problems, Automatica, vol. 99, pp. 221-227, 2019. PDF

2018


  • Y. Chen, L. Roveda and D.J. Braun, Efficiently Computable Constrained Optimal Feedback Controllers, IEEE Robotics and Automation Letters, vol. 4, no. 1, pp. 121-128, 2018. PDF
  • D.J. Braun, V. Chalvet and A. Dahiya, Positive-Negative Stiffness Actuators, IEEE Transactions on Robotics, vol. 35, no. 1, pp. 162-173, 2018. PDF
  • V. Chalvet and D. J. Braun, Criterion for the Design of Low Power Variable Stiffness Mechanisms, IEEE International Conference on Robotics and Automation, Brisbane, AU, May 2018. poster
  • 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. PDF

2017


  • 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. PDF
  • 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. PDF
  • A. Dahiya and D.J. Braun, Efficiently Tuneable Positive-Negative Stiffness Actuator, IEEE International Conference on Robotics and Automation, Singapore, SG, pp. 1235-1240, May 2017. PDF
  • 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. PDF
  • 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 et al. (eds.), Geometric and Numerical Foundations of Movements, Springer Tracts in Advanced Robotics, vol. 117, pp. 393-419, 2017. PDF

2008-2016


  • 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, Stockholm, SE, pp. 636-641 , May 2016. PDF
  • D.J. Braun, F. Petit, F. Huber, S. Haddadin, P. Smagt, A. Albu-Schaffer, and S. Vijayakumar, Optimal torque and stiffness control in compliantly actuated robots, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Algarve, PT, pp. 2801–2808, October 2012. PDF
  • D.J. Braun, M. Howard, and S. Vijayakumar, Exploiting variable stiffness in explosive movement tasks, Robotics: Science and Systems, Los Angeles, USA, June/July 2011. PDF
  • M. Howard, D.J. Braun, and S. Vijayakumar, Constraint-based equilibrium and stiffness control of variable stiffness actuators, IEEE International Conference on Robotics and Automation, Shanghai, CN, pp. 5554–5560, May 2011. PDF
  • D.J. Braun and M. Goldfarb, A controller for dynamic walking in bipedal robots, IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, pp. 2916–2921, October 2009. PDF
  • D. J. Braun, J. E. Mitchell, and M. Goldfarb, Actuated dynamic walking in biped robots: Control approach, robot design and experimental validation, IEEE-RAS International Conference on Humanoid Robots, Paris, FR, pp. 237–242, December 2009. PDF
  • T. M. Atanackovic and D.J. Braun, The strongest rotating rod, International Journal of Non-linear Mechanics, vol. 40, pp. 747–754, 2005. PDF