Lower-limb prostheses aim to restore ambulatory function for individuals with lower-limb
amputations. While the design of lower-limb prostheses is important, this paper focuses on …

Active learning is a decision-making process. In both abstract and physical settings, active
learning demands both analysis and action. This is a review of active learning in robotics …

Learning-enabled control systems have demonstrated impressive empirical performance on
challenging control problems in robotics, but this performance comes at the cost of reduced …

Animals are capable of precise and agile locomotion using vision. Replicating this ability
has been a long-standing goal in robotics. The traditional approach has been to decompose …

Successful real-world deployment of legged robots would require them to adapt in real-time
to unseen scenarios like changing terrains, changing payloads, wear and tear. This paper …

An attached arm can significantly increase the applicability of legged robots to several
mobile manipulation tasks that are not possible for the wheeled or tracked counterparts. The …

This paper provides an introduction and overview of recent work on control barrier functions
and their use to verify and enforce safety properties in the context of (optimization based) …

Safety critical systems involve the tight coupling between potentially conflicting control
objectives and safety constraints. As a means of creating a formal framework for controlling …

Safety and stability are common requirements for robotic control systems; however,
designing safe, stable controllers remains difficult for nonlinear and uncertain models. We …

In this paper, the issue of model uncertainty in safety-critical control is addressed with a data-
driven approach. For this purpose, we utilize the structure of an input-ouput linearization …