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David Braun

Assistant Professor of Mechanical Engineering


Mechanical Engineering


Research Focus

Robotics, optimal control, system dynamics, impedance control, variable impedance actuators, human augmentation



Selected Publications:

  1. E.S. Altinkaynak, G. Roig, and D.J. Braun, Linear Controllers that Account for Human Locomotion: Recovering Feedback Controllers from Experimental Data, Scientific Reports, 2018 (under review).
  2. D.J. Braun, V. Chalvet, T.H. Chong, S.S. Apte, and N. Hogan, Compliant Actuation for Low Energy Cost Stiffness Modulation, IEEE Transactions on Robotics, 2018 (under review).
  3. A. Dahiya, V. Chalvet, and D.J. Braun, Positive-Negative Stiffness Actuators, IEEE Transactions on Robotics, 2018 (under review).
  4. D.J. Braun, Y. Chen, and Linfeng Li, Inverse Dynamics under Actuation Constraints, IEEE Transactions on Robotics, 2018 (under review).
  5. F. A. Yaghmaie and D.J. Braun, Reinforcement Learning for Average Cost Optimal Control Problems with an Application in Tracking, IEEE Transactions on Neural Networks and Learning Systems, 2018 (under review).
  6. F.A. Yaghmaie and D.J. Braun, Reinforcement Learning for a Class of Continuous-time Input Constrained Optimal Control Problems, Automatica, 2018 (under review).
  7. V. Chalvet and D.J. Braun, Algorithmic Design of Low Power Variable Stiffness Mechanisms, IEEE Transactions on Robotics, 2017 33(6) 1508-1515, 2017.
  8. V. Chalvet and D.J. Braun, Criterion for the Design of Low Power Variable Stiffness Mechanisms, IEEE Transactions on Robotics, 33(4), 1002-1010, 2017.
  9. D.J. Braun, A. Sutas, and S. Vijayakumar, Self-tuning Bistable Parametric Oscillator: Near-optimal Amplitude Maximization without Model Information, Physical Review E, 95, 012201, 2017.
  10. J. Nakanishi, A. Radulescu, D.J. Braun, and S. Vijayakumar, Spatio-Temporal Stiffness Optimization in Movements with Switching Dynamics, Autonomous Robots, 41(2), 273-291, 2017.
  11. 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, 117, 393-419, 2017.
  12. D.J. Braun, Optimal Parametric Feedback Excitation of Nonlinear Oscillators, Physical Review Letters, 116, 044102, 2016.