On this page, you can find a short description of some (not all) of the projects which we are currently exploring. If you look at our media page, you will find longer descriptions of several recently completed projects. For an even 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
Robust Mapping
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 robots, such as autonomous cars, drones, and manipulators, are able to generate safe motion plans, by capturing their behavior with offline reachability analysis that enables online, real-time trajectory optimization
Modeling Human Motion
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 Prosthetic Control
We are developing techniques to perform real-time certified trajectory design for individuals wearing prosthetics.
Safe Locomotion Control
We are designing robust controllers for legged robots by bridging the gap between simple models that are easier to control and high fidelity models that represent reality.