Publications

  • H.-F. Lau, A. Sutrisno, T.-H. Chong and D.J. Braun, Stiffness Modulator: A Novel Actuator for Human Augmentation, 2017 (under review).
  • Y. Li and D.J. Braun, Impulsive Motion of Constrained Mechanical Systems: A Differential-Algebraic Formulation, 2017 (under review).
  • Y. Chen, L. Roveda and D.J. Braun, Constrained Iterative Nonlinear Optimization for Robot Control Application, 2017 (under review).
  • A. Dahiya, V. Chalvet and D.J. Braun, Positive-Negative Stiffness Actuators, 2017 (under review).
  • D.J. Braun, V. Chalvet, Chong T.-H., S.S. Apte and N. Hogan, Compliant Actuation for Low Energy Cost Stiffness Modulation, 2017 (under review).
  • V. Chalvet and D.J. Braun, Algorithmic Design of Low Power Variable Stiffness MechanismsIEEE Transactions on Robotics, 2017.
  • V. Chalvet and D.J. Braun, Criterion for the Design of Low Power Variable Stiffness Mechanisms, IEEE Transactions on Robotics, 2017.
  • A. Dahiya and D.J. Braun, Efficiently Tuneable Positive-Negative Stiffness Actuator, IEEE International Conference on Robotics and Automation, (Singapore), pp. , May 2017.
  • 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), pp. , May 2017.
  • 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.
  • D.J. Braun, S. Apte, O. Adiyatov, A. Dahiya and N. Hogan, Compliant Actuation for Energy Efficient Impedance Modulation, in IEEE International Conference on Robotics and Automation, (Stockholm), pp. , May 2016.
  • 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, Portugal), pp. 2801–2808, October 2012.
  • D.J. Braun, M. Howard, and S. Vijayakumar, Exploiting variable stiffness in explosive movement tasks, in 2011 Robotics: Science and Systems, (Los Angeles, California, USA), June/July 2011.
  • M. Howard, D.J. Braun, and S. Vijayakumar, Constraint-based equilibrium and stiffness control of variable stiffness actuators, in IEEE International Conference on Robotics and Automation, (Shanghai), pp. 5554–5560, May 2011.
  • D.J. Braun and M. Goldfarb, A controller for dynamic walking in bipedal robots, in IEEE/RSJ International Conference on Intelligent Robots and Systems, (St. Louis, USA), pp. 2916–2921, October 2009.
  • D. J. Braun, J. E. Mitchell, and M. Goldfarb, Actuated dynamic walking in biped robots: Control approach, robot design and experimental validation, in 9th IEEE-RAS International Conference on Humanoid Robots, (Paris, France), pp. 237–242, December 2009.
  • T. M. Atanackovic and D.J. Braun, The strongest rotating rodInternational Journal of Non-linear Mechanics, vol. 40, pp. 747–754, 2005.