13 citations · 21 across the 5 of their papers we have counts for
12 papers
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…
MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks
Jaemin Lee, Seung Hyeon Bang, Efstathios Bakolas +1
This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or…
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…
Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
Steven Jens Jorgensen, Michael W. Lanighan, Sylvain S. Bertrand +19
As part of a feasibility study, this paper shows the NASA Valkyrie humanoid robot performing an end-to-end improvised explosive device (IED) response task. To demonstrate and evalu…
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…