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David Braun

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David J. Braun is a postdoctoral researcher involved in the European STIFF Project. He received his Ph.D. degree in 2009 from Vanderbilt University, USA, where he was involved in the development and experimental demonstration of a biologically-inspired compliant control approach to human-like dynamic walking in biped robots, and was affiliated with the Center for Intelligent Mechatronics as a post-doctoral researcher. He received his B.S. and M.S. degrees in mechanical engineering from University of Novi Sad, Department of Mechanics, Serbia, in 2001 and 2003, respectively. Dr. Braun is engaged in the research of system dynamics and control, analytical mechanics, nonlinear optimization, nonlinear dynamics and chaos control. His research interests include both theoretical and practical treatments through numerical solver development and real-time dynamic simulations. His current research is focused on application of nonlinear optimal control principles to a biologically-inspired variable impedance actuation.

 

Contact

IPAB, School of Informatics, University of Edinburgh
Informatics Forum, 1.25
10 Crichton Street
Edinburgh EH8 9AB

Email:david.braun[@]ed.ac.uk
Tel:+44(0)131 6517 195

Research Projects

  • STIFF: Research in this project focusses on the role of impedance control in humans and robots, and brings together a number of partners in the fields of human modelling, novel hardware development and control. At SLMC we are concerned with the machine learning and optimal control aspects of the problem, looking at how impedance control strategies can emerge from first principles of optimality and how these strategies can be applied to variable impedance actuation. See the STIFF project homepage for more details. 
  • Optimal Feedback Control: Research in this project focuses on motion coordination by optimal impedance modulation.

Publications

 

  • D. J. Braun, J. E. Mitchell, M. Goldfarb, Actuated Dynamic Walking in a Seven-link Biped Robot, IEEE Transactions on Mechatronics, ODI: 10.1109/TMECH.2010.2090891, 2010. VIDEO
  • D. J. Braun, M. Goldfarb, A Control Approach for Actuated Dynamics Walking in Biped Robots, IEEE Transactions on Robotics, vol. 25, no. 6, pp. 1292-1303, 2009. VIDEO
  • D. J. Braun, M. Goldfarb,Elimination of Constrained Drift in the Numerical Simulation of Constrained Dynamical Systems, Computer Methods in Applied Mechanics and Engineering, vol. 198, no. 37-40, pp. 3151-3160, 2009.
  • D. J. Braun, Adaptive Steady-State Stabilization for Nonlinear Dynamical Systems, Physical Review E, vol. 78, 016213, 2008.
  • D. J. Braun, On the Optimal Shape of Compressed Rotating Rod with Shear and Extensibility, International Journal of Non-Linear Mechanics, vol. 43, no. 2, pp. 131-139, 2008.
  • T. M. Atanackovic, D. J. Braun, The Strongest Rotating Rod, International Journal of Non-Linear Mechanics, vol. 40, no. 5, pp. 747-754, 2005.
  • D. J. Braun, M. Howard and S. Vijayakumar, Exploiting Variable Stiffness in Explosive Movement Tasks, Robotics: Science and Systems, pp. , June 27 - July 1, Los Angeles, CA, USA, 2011.
  • M. Howard, D. J. Braun and S. Vijayakumar, Constraint-based Equilibrium and Stiffness Control of Variable Stiffness Actuators, IEEE International Conference on Robotics and Automation, pp. , May 9-13, Shanghai, China, 2011.
  • D. J. Braun, J. E. Mitchell, M. Goldfarb, Actuated Dynamic Walking in Biped Robots: Control Approach, Robot Design and Experimental Validation, 9th IEEE-RAS Conference on Humanoid Robots, pp. 237-242, Dec. 7-10, Paris, France, 2009.
  • D. J. Braun, M. Goldfarb, A Controller for Dynamic Walking in Bipedal Robots, IEEE-RSJ International Conference on Intelligent Robots and Systems, pp. 2916-2921, Oct. 11-15, St. Louis, MO, USA, 2009.

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