The ROAHM (Robotics and Optimization for the Analysis of Human Motion) Lab seeks to understand and improve human and robot interaction with one another and with the environment. We devise techniques to diagnose unsafe behavior and construct controllers that can then safely intervene or aid in retraining. Our approach can be divided into three categories:

 Identification

 Identification

Sensor analysis and optimization to identify hybrid dynamical models of motion

Analysis

Analysis

Automated analysis of dynamical models using optimization, robotics, and system theory

Design

Design

Numerical tools to design semi-autonomous control architectures for safe interaction

You can learn more about previous and ongoing research projects here.