Actuated dynamic walking in biped robots: Control approach, robot design and experimental validation. - David J. Braun; Jason E. Mitchell; Michael Goldfarb (Humanoids, 2009)

A controller for dynamic walking in bipedal robots. - David J. Braun; Michael Goldfarb (IROS, 2009)

A Control Approach for Actuated Dynamic Walking in Biped Robots. - David J. Braun; Michael Goldfarb (IEEE Trans. Robotics, 2009)

Constraint-based equilibrium and stiffness control of variable stiffness actuators. - Matthew Howard 001; David J. Braun; Sethu Vijayakumar (ICRA, 2011)

Exploiting Variable Stiffness in Explosive Movement Tasks. - David J. Braun; Matthew Howard 001; Sethu Vijayakumar (Robotics: Science and Systems, 2011)

Optimal torque and stiffness control in compliantly actuated robots. - David J. Braun; Florian Petit; Felix Huber; Sami Haddadin; Patrick van der Smagt; Alin Albu-Schäffer; Sethu Vijayakumar (IROS, 2012)

Optimal variable stiffness control: formulation and application to explosive movement tasks. - David J. Braun; Matthew Howard 001; Sethu Vijayakumar (Auton. Robots, 2012)

Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints. - David J. Braun; Florian Petit; Felix Huber; Sami Haddadin; Patrick van der Smagt; Alin Albu-Schäffer; Sethu Vijayakumar (IEEE Trans. Robotics, 2013)

Transferring Human Impedance Behavior to Heterogeneous Variable Impedance Actuators. - Matthew Howard 001; David J. Braun; Sethu Vijayakumar (IEEE Trans. Robotics, 2013)

Compliant actuation for energy efficient impedance modulation. - David J. Braun; Salil S. Apte; Olzhas Adiyatov; Abhinav Dahiya; Neville Hogan (ICRA, 2016)

Analytical conditions for the design of variable stiffness mechanisms. - Tze Hao Chong; Vincent Chalvet; David J. Braun (ICRA, 2017)

Efficiently tunable positive-negative stiffness actuator. - Abhinav Dahiya; David J. Braun (ICRA, 2017)

Spatio-temporal stiffness optimization with switching dynamics. - Jun Nakanishi; Andreea Radulescu; David J. Braun; Sethu Vijayakumar (Auton. Robots, 2017)

Criterion for the Design of Low-Power Variable Stiffness Mechanisms. - Vincent Chalvet; David J. Braun (IEEE Trans. Robotics, 2017)

Algorithmic Design of Low-Power Variable-Stiffness Mechanisms. - Vincent Chalvet; David J. Braun (IEEE Trans. Robotics, 2017)

Optimal Control of Variable Stiffness Policies: Dealing with Switching Dynamics and Model Mismatch. - Andreea Radulescu; Jun Nakanishi; David J. Braun; Sethu Vijayakumar (Geometric and Numerical Foundations of Movements, 2017)

Stiffness Modulator: A Novel Actuator for Human Augmentation. - Hong Fai Lau; Amanda Sutrisno; Tze Hao Chong; David J. Braun (ICRA, 2018)

Constrained Feedback Control by Prioritized Multi-objective Optimization. - Linfeng Li; David J. Braun (ICRA, 2019)

Algorithmic Resolution of Multiple Impacts in Nonsmooth Mechanical Systems with Switching Constraints. - Yangzhi Li; Haoyong Yu; David J. Braun (ICRA, 2019)

Reinforcement learning for a class of continuous-time input constrained optimal control problems. - Farnaz Adib Yaghmaie; David J. Braun (Autom., 2019)

Efficiently Computable Constrained Optimal Feedback Controllers. - Yuqing Chen; Loris Roveda; David J. Braun (IEEE Robotics Autom. Lett., 2019)

Variable Stiffness Spring Actuators for Low-Energy-Cost Human Augmentation. - David J. Braun; Vincent Chalvet; Tze Hao Chong; Salil S. Apte; Neville Hogan (IEEE Trans. Robotics, 2019)

Positive-Negative Stiffness Actuators. - David J. Braun; Vincent Chalvet; Abhinav Dahiya (IEEE Trans. Robotics, 2019)

Hardware-in-the-Loop Iterative Optimal Feedback Control Without Model-Based Future Prediction. - Yuqing Chen; David J. Braun (IEEE Trans. Robotics, 2019)

Variable Stiffness Springs for Energy Storage Applications. - Sung Y. Kim; Tiange Zhang; David J. Braun (ICRA, 2020)

Multiphase and Multivariable Linear Controllers That Account for the Joint Torques in Normal Human Walking. - Evrim S. Altinkaynak; Gemma Roig; David J. Braun (IEEE Trans. Biomed. Eng., 2020)

Operational Space Control Under Actuation Constraints Using Strictly Convex Optimization. - David J. Braun; Yuqing Chen; Linfeng Li (IEEE Trans. Robotics, 2020)

Human Driven Compliant Transmission Mechanism. - Tiange Zhang; David J. Braun (ICRA, 2021)

Novel Variable Stiffness Spring Mechanism: Modulating Stiffness Independent of the Energy Stored by the Spring. - Sung Y. Kim; David J. Braun (IROS, 2021)

Parallel Variable Stiffness Actuators. - Chase W. Mathews; David J. Braun (IROS, 2021)

Iterative Online Optimal Feedback Control. - Yuqing Chen; David J. Braun (IEEE Trans. Autom. Control., 2021)

High-energy-density 3D-printed Composite Springs for Lightweight and Energy-efficient Compliant Robots. - Amanda Sutrisno; David J. Braun (CoRR, 2022)

Design of a Parallel Elastic Actuator with a Continuously-Adjustable Equilibrium Position. - Evangelos Chatziandreou; Chase W. Mathews; David J. Braun (CoRR, 2022)

Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints. - Cole A. Dempsey; David J. Braun (ICRA, 2023)

Controllable Mechanical-domain Energy Accumulators. - Sung Y. Kim; David J. Braun (ICRA, 2023)

Design of a Variable Stiffness Spring with Human-Selectable Stiffness. - Chase W. Mathews; David J. Braun (ICRA, 2023)

A Novel Approximation for the Spring Loaded Inverted Pendulum Model of Locomotion. - Ali U. Kilic; David J. Braun (IROS, 2023)

Data-Driven Iterative Optimal Control for Switched Dynamical Systems. - Yuqing Chen; Yangzhi Li; David J. Braun (IEEE Robotics Autom. Lett., 2023)

Design of Parallel Variable Stiffness Actuators. - Chase W. Mathews; David J. Braun (IEEE Trans. Robotics, 2023)

Variable Stiffness Floating Spring Leg: Performing Net-Zero Energy Cost Tasks Not Achievable Using Fixed Stiffness Springs. - Sung Y. Kim; David J. Braun (IEEE Robotics Autom. Lett., 2023)

Energy Minimization using Custom-Designed Magnetic-Spring Actuators. - Yue Yang Fu; Ali U. Kilic; David J. Braun (IROS, 2024)

Learning finite-horizon optimal control with unknown control-affine dynamics. - Yuqing Chen; Yangzhi Li; David J. Braun (Syst. Control. Lett., 2025)