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Robustness of Control Barrier Functions for Safety Critical Control
(Georgia Institute of Technology, 2015)
Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multi-objective control. The extension of a barrier ...
First Steps Toward Translating Robotic Walking To Prostheses: A Nonlinear Optimization Based Control Approach
(Georgia Institute of Technology, 2016)
This paper presents the first steps toward successfully translating nonlinear real-time optimization based controllers from bipedal walking robots to a self-contained powered transfemoral prosthesis: AMPRO, with the ...