129 citations · 889 across the 54 of their papers we have counts for
7 papers · 2 filters
Task-Based Hybrid Shared Control for Training Through Forceful Interaction
Kathleen Fitzsimons, Aleksandra Kalinowska, Julius P. A. Dewald +1
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instance…
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators
Ian Abraham, Todd D. Murphey
This paper presents an active learning strategy for robotic systems that takes into account task information, enables fast learning, and allows control to be readily synthesized by…
Highly Parallelized Data-driven MPC for Minimal Intervention Shared Control
Alexander Broad, Todd Murphey, Brenna Argall
We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user…
Operation and Imitation under Safety-Aware Shared Control
Alexander Broad, Todd Murphey, Brenna Argall
We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be…
Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization
Taosha Fan, Jarvis Schultz, Todd Murphey
This paper addresses the problem of efficiently computing higher-order variational integrators in simulation and trajectory optimization of mechanical systems as those often found…
Data-Driven Gait Segmentation for Walking Assistance in a Lower-Limb Assistive Device
Aleksandra Kalinowska, Thomas A. Berrueta, Adam Zoss +1
Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics. Little can be predicted about the systems' evolution wit…