Robotics and Optimization for Analysis of Human Motion
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You can find a short description to several projects which we are currently exploring below. For a more comprehensive description please look at our publications page.
Modeling Soft Robots
We are utilizing Koopman Operator Theory to construct explicit linear dynamical models of soft robots and to control them using established model-based linear control methods
We are developing robust and distributed methods to map environments by formulating such problems using graph theory and solving them using convex optimization
Safe Trajectory Design
We ensure autonomous mobile robots, like autonomous vehicles, are safe and not-at-fault by capturing their behavior, including uncertainty, with offline reachability analysis that enables online real-time trajectory optimization.
We are building models of human motion and using reachability analysis to characterize stability. We have conducted perturbative studies to verify that these models of stability are accurate.
Robust Attack Detection
We are developing a tool called Dynamic Watermarking to ensure the safe operation of autonomous systems whose measurements have been compromised due to a malicious agent
Safe Locomotion Control
We are designing robust controllers for legged robots in unknown environments by bridging the gap between simple models which are easy to control online and high fidelity models that represent reality.