Trajectory Optimization
- Numerical algorithms: optimization + multibody system dynamics + control
- Regulated infeasibility and failure modes with strict constraint prioritization
- State (e.g., contact, event) detection and optimization
Energetics of Dynamic Systems
- Modeling & identification: power consumption of mechanical systems as a function of system state, system properties, and control inputs → Energy-efficient control, simulation, prediction, & optimization
- Robots and machines: battery + servomotor
- Biomechanical systems: metabolic energy expenditure
Balance Stability and Gait
- Criteria for balance stability of legged systems → Fall prediction and prevention
- Stability control for balancing and walking
- Quantification of passive dynamic walking
Implementations in Control and Prediction
- Control and Analysis of Robotic Systems
- Humanoid robots: ROBOTIS OP (formerly named DARwIn-OP; ROBOTIS, Ltd.) and ROBOTIS OP3 (ROBOTIS, Ltd.)
- Wearable robot: Mina v2 powered lower-limb exoskeleton with Florida Institute for Human and Machine Cognition (IHMC)
- Prediction and Analysis of Biomechanical Systems
- Applications for Complex Urban Problems
- Integration with Artificial Intelligence (Machine Learning)
