David J. Braun

45 papers A* 12A 6Journal 24Unranked 2

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	Learning finite-horizon optimal control with unknown control-affine dynamics. Syst. Control. Lett. Yuqing Chen, Yangzhi Li, David J. Braun
2024	A	`conf`	Energy Minimization using Custom-Designed Magnetic-Spring Actuators. IROS Yue Yang Fu, Ali U. Kilic, David J. Braun
2023	A	`conf`	A Novel Approximation for the Spring Loaded Inverted Pendulum Model of Locomotion. IROS Ali U. Kilic, David J. Braun
2023	A*	`conf`	Controllable Mechanical-domain Energy Accumulators. ICRA Sung Y. Kim, David J. Braun
2023	J	`jnl`	Data-Driven Iterative Optimal Control for Switched Dynamical Systems. IEEE Robotics Autom. Lett. Yuqing Chen, Yangzhi Li, David J. Braun
2023	J	`jnl`	Design of Parallel Variable Stiffness Actuators. IEEE Trans. Robotics Chase W. Mathews, David J. Braun
2023	A*	`conf`	Design of a Variable Stiffness Spring with Human-Selectable Stiffness. ICRA Chase W. Mathews, David J. Braun
2023	J	`jnl`	Design of a Variable Stiffness Spring with Human-Selectable Stiffness. CoRR Chase W. Mathews, David J. Braun
2023	A*	`conf`	Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints. ICRA Cole A. Dempsey, David J. Braun
2023	J	`jnl`	Variable Stiffness Floating Spring Leg: Performing Net-Zero Energy Cost Tasks Not Achievable Using Fixed Stiffness Springs. IEEE Robotics Autom. Lett. Sung Y. Kim, David J. Braun
2022	J	`jnl`	Controllable Mechanical-domain Energy Accumulators. CoRR Sung Y. Kim, David J. Braun
2022	J	`jnl`	Design of a Parallel Elastic Actuator with a Continuously-Adjustable Equilibrium Position. CoRR Evangelos Chatziandreou, Chase W. Mathews, David J. Braun
2022	J	`jnl`	High-energy-density 3D-printed Composite Springs for Lightweight and Energy-efficient Compliant Robots. CoRR Amanda Sutrisno, David J. Braun
2022	J	`jnl`	Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints. CoRR Cole A. Dempsey, David J. Braun
2021	A*	`conf`	Human Driven Compliant Transmission Mechanism. ICRA Tiange Zhang, David J. Braun
2021	J	`jnl`	Iterative Online Optimal Feedback Control. IEEE Trans. Autom. Control. Yuqing Chen, David J. Braun
2021	A	`conf`	Novel Variable Stiffness Spring Mechanism: Modulating Stiffness Independent of the Energy Stored by the Spring. IROS Sung Y. Kim, David J. Braun
2021	A	`conf`	Parallel Variable Stiffness Actuators. IROS Chase W. Mathews, David J. Braun
2020	J	`jnl`	Multiphase and Multivariable Linear Controllers That Account for the Joint Torques in Normal Human Walking. IEEE Trans. Biomed. Eng. Evrim S. Altinkaynak, Gemma Roig, David J. Braun
2020	J	`jnl`	Operational Space Control Under Actuation Constraints Using Strictly Convex Optimization. IEEE Trans. Robotics David J. Braun, Yuqing Chen, Linfeng Li
2020	A*	`conf`	Variable Stiffness Springs for Energy Storage Applications. ICRA Sung Y. Kim, Tiange Zhang, David J. Braun
2019	A*	`conf`	Algorithmic Resolution of Multiple Impacts in Nonsmooth Mechanical Systems with Switching Constraints. ICRA Yangzhi Li, Haoyong Yu, David J. Braun
2019	A*	`conf`	Constrained Feedback Control by Prioritized Multi-objective Optimization. ICRA Linfeng Li, David J. Braun
2019	J	`jnl`	Efficiently Computable Constrained Optimal Feedback Controllers. IEEE Robotics Autom. Lett. Yuqing Chen, Loris Roveda, David J. Braun
2019	J	`jnl`	Hardware-in-the-Loop Iterative Optimal Feedback Control Without Model-Based Future Prediction. IEEE Trans. Robotics Yuqing Chen, David J. Braun
2019	J	`jnl`	Positive-Negative Stiffness Actuators. IEEE Trans. Robotics David J. Braun, Vincent Chalvet, Abhinav Dahiya
2019	J	`jnl`	Reinforcement learning for a class of continuous-time input constrained optimal control problems. Autom. Farnaz Adib Yaghmaie, David J. Braun
2019	J	`jnl`	Variable Stiffness Spring Actuators for Low-Energy-Cost Human Augmentation. IEEE Trans. Robotics David J. Braun, Vincent Chalvet, Tze Hao Chong, Salil S. Apte, Neville Hogan
2018	A*	`conf`	Stiffness Modulator: A Novel Actuator for Human Augmentation. ICRA Hong Fai Lau, Amanda Sutrisno, Tze Hao Chong, David J. Braun
2017	J	`jnl`	Algorithmic Design of Low-Power Variable-Stiffness Mechanisms. IEEE Trans. Robotics Vincent Chalvet, David J. Braun
2017	A*	`conf`	Analytical conditions for the design of variable stiffness mechanisms. ICRA Tze Hao Chong, Vincent Chalvet, David J. Braun
2017	J	`jnl`	Criterion for the Design of Low-Power Variable Stiffness Mechanisms. IEEE Trans. Robotics Vincent Chalvet, David J. Braun
2017	A*	`conf`	Efficiently tunable positive-negative stiffness actuator. ICRA Abhinav Dahiya, David J. Braun
2017	—	`ch.`	Optimal Control of Variable Stiffness Policies: Dealing with Switching Dynamics and Model Mismatch. Geometric and Numerical Foundations of Movements Andreea Radulescu, Jun Nakanishi, David J. Braun, Sethu Vijayakumar
2017	J	`jnl`	Spatio-temporal stiffness optimization with switching dynamics. Auton. Robots Jun Nakanishi, Andreea Radulescu, David J. Braun, Sethu Vijayakumar
2016	A*	`conf`	Compliant actuation for energy efficient impedance modulation. ICRA David J. Braun, Salil S. Apte, Olzhas Adiyatov, Abhinav Dahiya, Neville Hogan
2013	J	`jnl`	Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints. IEEE Trans. Robotics David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar
2013	J	`jnl`	Transferring Human Impedance Behavior to Heterogeneous Variable Impedance Actuators. IEEE Trans. Robotics Matthew Howard, David J. Braun, Sethu Vijayakumar
2012	A	`conf`	Optimal torque and stiffness control in compliantly actuated robots. IROS David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar
2012	J	`jnl`	Optimal variable stiffness control: formulation and application to explosive movement tasks. Auton. Robots David J. Braun, Matthew Howard, Sethu Vijayakumar
2011	A*	`conf`	Constraint-based equilibrium and stiffness control of variable stiffness actuators. ICRA Matthew Howard, David J. Braun, Sethu Vijayakumar
2011	—	`conf`	Exploiting Variable Stiffness in Explosive Movement Tasks. Robotics: Science and Systems David J. Braun, Matthew Howard, Sethu Vijayakumar
2009	J	`jnl`	A Control Approach for Actuated Dynamic Walking in Biped Robots. IEEE Trans. Robotics David J. Braun, Michael Goldfarb
2009	A	`conf`	A controller for dynamic walking in bipedal robots. IROS David J. Braun, Michael Goldfarb
2009	—	`conf`	Actuated dynamic walking in biped robots: Control approach, robot design and experimental validation. Humanoids David J. Braun, Jason E. Mitchell, Michael Goldfarb