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. In particular, we focus on applying techniques from infinite dimensional optimization to the modeling, estimation and control of dynamical systems. Our work, some of which is described in the videos above, seeks to develop practical solutions to these problems while providing mathematical guarantees regarding performance.

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