14 citations · 62 across the 12 of their papers we have counts for
12 papers
Safety Control of Uncertain MIMO Systems Using Dynamic Output Feedback Barrier Pairs
Binghan He, Takashi Tanaka
Safety control of dynamical systems using barrier functions relies on knowing the full state information. This paper introduces a novel approach for safety control in uncertain MIM…
Barrier Pairs for Safety Control of Uncertain Output Feedback Systems
Binghan He, Takashi Tanaka
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems,…
Parameters for certain locally-regular graphs
Marston Conder, Jeroen Schillewaert, Gabriel Verret
A graph is called -regular if it is -regular and the induced subgraph on the neighbourhood of every vertex is -regular. We find new conditions on for the exist…
A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control
Binghan He, Huang Huang, Gray C. Thomas +1
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amp…
BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning
Binghan He, Jaemin Lee, Ufuk Topcu +1
For a nonlinear system (e.g. a robot) with its continuous state space trajectories constrained by a linear temporal logic specification, the synthesis of a low-level controller for…
Adaptive Compliance Shaping with Human Impedance Estimation
Huang Huang, Henry F. Cappel, Gray C. Thomas +2
Human impedance parameters play an integral role in the dynamics of strength amplification exoskeletons. Many methods are used to estimate the stiffness of human muscles, but few a…
Robust Estimator-Based Safety Verification: A Vector Norm Approach
Binghan He, Gray C. Thomas, Luis Sentis
In this paper, we consider the problem of verifying safety constraint satisfaction for single-input single-output systems with uncertain transfer function coefficients. We propose…
Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons
Binghan He, Huang Huang, Gray C. Thomas +1
Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the huma…
Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation
Binghan He, Gray C. Thomas, Nicholas Paine +1
In this paper we consider a class of exoskeletons designed to amplify the strength of humans through feedback of sensed human-robot interactions and actuator forces. We define an a…
Decentralized Control Systems Laboratory Using Human Centered Robotic Actuators
Binghan He, Kunye Chen, Rachel Schlossman +5
University laboratories deliver unique hands-on experimentation for STEM students but often lack state-of-the-art equipment and provide limited access to their equipment. The Unive…
Safety Control Synthesis with Input Limits: a Hybrid Approach
Gray C. Thomas, Binghan He, Luis Sentis
We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent…
Web Based Teleoperation of a Humanoid Robot
Chien Liang Fok, Fei Sun, Matt Mangum +3
The Cloud-based Advanced Robotics Laboratory (CARL) integrates a whole body controller and web-based teleoperation to enable any device with a web browser to access and control a h…