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ORCIDDavid J. Braun
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2020 – today
- 2023
[j18]Yuqing Chen
, Yangzhi Li, David J. Braun:
Data-Driven Iterative Optimal Control for Switched Dynamical Systems. IEEE Robotics Autom. Lett. 8(1): 296-303 (2023)- [j17]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): 5400-5407 (2023) - [j16]Chase W. Mathews, David J. Braun:
Design of Parallel Variable Stiffness Actuators. IEEE Trans. Robotics 39(1): 768-782 (2023) - [c19]Sung Y. Kim, David J. Braun:
Controllable Mechanical-domain Energy Accumulators. ICRA 2023: 7359-7364 - [c18]Chase W. Mathews, David J. Braun:
Design of a Variable Stiffness Spring with Human-Selectable Stiffness. ICRA 2023: 7385-7390 - [c17]Cole A. Dempsey, David J. Braun:
Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints. ICRA 2023: 7391-7397 - [c16]Ali U. Kilic, David J. Braun:
A Novel Approximation for the Spring Loaded Inverted Pendulum Model of Locomotion. IROS 2023: 4315-4321 - [i5]Chase W. Mathews, David J. Braun:
Design of a Variable Stiffness Spring with Human-Selectable Stiffness. CoRR abs/2302.13471 (2023) - 2022
- [i4]Amanda Sutrisno, David J. Braun:
High-energy-density 3D-printed Composite Springs for Lightweight and Energy-efficient Compliant Robots. CoRR abs/2211.09245 (2022) - [i3]Evangelos Chatziandreou, Chase W. Mathews, David J. Braun:
Design of a Parallel Elastic Actuator with a Continuously-Adjustable Equilibrium Position. CoRR abs/2212.07601 (2022) - [i2]Cole A. Dempsey, David J. Braun:
Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints. CoRR abs/2212.14382 (2022) - [i1]Sung Y. Kim, David J. Braun:
Controllable Mechanical-domain Energy Accumulators. CoRR abs/2212.14389 (2022) - 2021
- [j15]Yuqing Chen, David J. Braun:
Iterative Online Optimal Feedback Control. IEEE Trans. Autom. Control. 66(2): 566-580 (2021) - [c15]Tiange Zhang, David J. Braun:
Human Driven Compliant Transmission Mechanism. ICRA 2021: 7094-7099 - [c14]Chase W. Mathews, David J. Braun:
Parallel Variable Stiffness Actuators. IROS 2021: 8225-8231 - [c13]Sung Y. Kim, David J. Braun:
Novel Variable Stiffness Spring Mechanism: Modulating Stiffness Independent of the Energy Stored by the Spring. IROS 2021: 8232-8237 - 2020
- [j14]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): 1573-1584 (2020) - [j13]David J. Braun, Yuqing Chen, Linfeng Li:
Operational Space Control Under Actuation Constraints Using Strictly Convex Optimization. IEEE Trans. Robotics 36(1): 302-309 (2020) - [c12]Sung Y. Kim, Tiange Zhang, David J. Braun:
Variable Stiffness Springs for Energy Storage Applications. ICRA 2020: 928-933
2010 – 2019
- 2019
- [j12]Farnaz Adib Yaghmaie, David J. Braun:
Reinforcement learning for a class of continuous-time input constrained optimal control problems. Autom. 99: 221-227 (2019) - [j11]Yuqing Chen, Loris Roveda, David J. Braun:
Efficiently Computable Constrained Optimal Feedback Controllers. IEEE Robotics Autom. Lett. 4(1): 121-128 (2019) - [j10]David J. Braun, Vincent Chalvet, Abhinav Dahiya:
Positive-Negative Stiffness Actuators. IEEE Trans. Robotics 35(1): 162-173 (2019) - [j9]Yuqing Chen, David J. Braun:
Hardware-in-the-Loop Iterative Optimal Feedback Control Without Model-Based Future Prediction. IEEE Trans. Robotics 35(6): 1419-1434 (2019) - [j8]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): 1435-1449 (2019) - [c11]Yangzhi Li, Haoyong Yu, David J. Braun:
Algorithmic Resolution of Multiple Impacts in Nonsmooth Mechanical Systems with Switching Constraints. ICRA 2019: 7639-7645 - [c10]Linfeng Li, David J. Braun:
Constrained Feedback Control by Prioritized Multi-objective Optimization. ICRA 2019: 9496-9501 - 2018
- [c9]Hong Fai Lau, Amanda Sutrisno, Tze Hao Chong, David J. Braun:
Stiffness Modulator: A Novel Actuator for Human Augmentation. ICRA 2018: 7742-7748 - 2017
- [j7]Jun Nakanishi, Andreea Radulescu, David J. Braun, Sethu Vijayakumar:
Spatio-temporal stiffness optimization with switching dynamics. Auton. Robots 41(2): 273-291 (2017) - [j6]Vincent Chalvet, David J. Braun:
Criterion for the Design of Low-Power Variable Stiffness Mechanisms. IEEE Trans. Robotics 33(4): 1002-1010 (2017) - [j5]Vincent Chalvet, David J. Braun:
Algorithmic Design of Low-Power Variable-Stiffness Mechanisms. IEEE Trans. Robotics 33(6): 1508-1515 (2017) - [c8]Abhinav Dahiya, David J. Braun:
Efficiently tunable positive-negative stiffness actuator. ICRA 2017: 1235-1240 - [c7]Tze Hao Chong, Vincent Chalvet, David J. Braun:
Analytical conditions for the design of variable stiffness mechanisms. ICRA 2017: 1241-1247 - [p1]Andreea Radulescu, Jun Nakanishi, David J. Braun, Sethu Vijayakumar:
Optimal Control of Variable Stiffness Policies: Dealing with Switching Dynamics and Model Mismatch. Geometric and Numerical Foundations of Movements 2017: 393-419 - 2016
- [c6]David J. Braun, Salil S. Apte, Olzhas Adiyatov, Abhinav Dahiya, Neville Hogan:
Compliant actuation for energy efficient impedance modulation. ICRA 2016: 636-641 - 2013
- [j4]Matthew Howard, David J. Braun, Sethu Vijayakumar:
Transferring Human Impedance Behavior to Heterogeneous Variable Impedance Actuators. IEEE Trans. Robotics 29(4): 847-862 (2013) - [j3]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): 1085-1101 (2013) - 2012
- [j2]David J. Braun, Matthew Howard, Sethu Vijayakumar:
Optimal variable stiffness control: formulation and application to explosive movement tasks. Auton. Robots 33(3): 237-253 (2012) - [c5]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: 2801-2808 - 2011
- [c4]Matthew Howard, David J. Braun, Sethu Vijayakumar:
Constraint-based equilibrium and stiffness control of variable stiffness actuators. ICRA 2011: 5554-5560 - [c3]David J. Braun, Matthew Howard, Sethu Vijayakumar:
Exploiting Variable Stiffness in Explosive Movement Tasks. Robotics: Science and Systems 2011
2000 – 2009
- 2009
- [j1]David J. Braun, Michael Goldfarb:
A Control Approach for Actuated Dynamic Walking in Biped Robots. IEEE Trans. Robotics 25(6): 1292-1303 (2009) - [c2]David J. Braun, Jason E. Mitchell, Michael Goldfarb:
Actuated dynamic walking in biped robots: Control approach, robot design and experimental validation. Humanoids 2009: 237-242 - [c1]David J. Braun, Michael Goldfarb:
A controller for dynamic walking in bipedal robots. IROS 2009: 2916-2921
Coauthor Index
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