Papers

Working papers — feedback welcome!

[4] M. D. Kvalheim, P. Gustafson, and S. A. Burden. A pasting lemma for Lipschitz functions. Sept. 2021, arXiv:2109.08209. [ bib | arXiv ]
[3] G. Council, S. Revzen, and S. A. Burden. Representing and computing the B-derivative of an ECr vector field's PCr flow. Feb. 2021, arXiv:2102.10702. [ bib | arXiv ]
[2] B. J. Chasnov, D. Calderone, B. Açikmeşe, S. A. Burden, and L. J. Ratliff. Stability of gradient learning dynamics in continuous games: Vector action spaces. Nov. 2020, arXiv:2011.05562. [ bib | arXiv ]
[1] S. A. Burden, T. Libby, and S. D. Coogan. On infinitesimal contraction analysis for hybrid systems. Nov. 2018, arXiv:1811.03956. [ bib | arXiv ]

Archival papers

[17] M. Yamagami, L. N. Peterson, D. Howell, E. Roth, and S. A. Burden. Effect of handedness on learned controllers and sensorimotor noise during trajectory-tracking. IEEE Transactions on Cybernetics, 2021. [ bib | DOI | .pdf ]
[16] M. Yamagami, S. Imsdahl, K. Lindgren, O. Bellatin, N. Nhan, S. A. Burden, S. Pradhan, and V. E. Kelly. Effects of virtual reality environments on overground walking in people with parkinson disease and freezing of gait. Disability and Rehabilitation: Assistive Technology pp. 1--8, Nov. 2020. [ bib | DOI | .pdf ]
[15] M. C. Rosenberg, B. S. Banjanin, S. A. Burden, and K. M. Steele. Predicting walking response to ankle exoskeletons using data-driven models. Journal of the Royal Society: Interface 17(171):20200487, Oct. 2020. [ bib | DOI | code | .pdf ]
[14] J. Zhang, A. M. Pace, S. A. Burden, and A. Aravkin. Offline state estimation for hybrid systems via nonsmooth variable projection. Automatica 115:108871, May 2020. [ bib | DOI | code | .pdf ]
[13] M. Yamagami, K. M. Steele, and S. A. Burden. Decoding intent with control theory: Comparing muscle versus manual interface performance. ACM Conference on Human Factors in Computing Systems (CHI) pp. 1--12, Apr. 2020. [ bib | DOI | .pdf ]
[12] B. S. Banjanin and S. A. Burden. Nonsmooth optimal value and policy functions in mechanical systems subject to unilateral constraints. IEEE Control Systems Letters (L-CSS) 4(2):506--511, Apr. 2020. [ bib | DOI | .pdf ]
[11] B. Chasnov, L. J. Ratliff, E. Mazumdar, and S. A. Burden. Convergence analysis for gradient-based learning in continuous games. ACM Conference on Uncertainty in Artificial Intelligence (UAI), May 2019, arXiv:1905.09169. [ bib | arXiv | .pdf ]
[10] A. De, S. A. Burden, and D. E. Koditschek. A hybrid dynamical extension of averaging and its application to the analysis of legged gait stability. The International Journal of Robotics Research (IJRR) 37(2-3):266--286, Feb. 2018. [ bib | DOI | .pdf ]
[9] A. M. Pace and S. A. Burden. Piecewise--differentiable trajectory outcomes in mechanical systems subject to unilateral constraints. ACM Conference on Hybrid Systems: Computation and Control (HSCC), pp. 243--252, Apr. 2017. [ bib | DOI | .pdf ]
[8] A. M. Johnson, S. A. Burden, and D. E. Koditschek. A hybrid systems model for simple manipulation and self-manipulation systems. The International Journal of Robotics Research (IJRR) 35(11):1354--1392, May 2016. [ bib | DOI | .pdf ]
[7] S. A. Burden, S. S. Sastry, D. E. Koditschek, and S. Revzen. Event-selected vector field discontinuities yield piecewise-differentiable flows. SIAM Journal on Applied Dynamical Systems (SIADS) 15(2):1227--1267, 2016. [ bib | DOI | .pdf ]
[6] I. Yang, S. A. Burden, R. Rajagopal, S. S. Sastry, and C. J. Tomlin. Approximation algorithms for optimization of combinatorial dynamical systems. IEEE Transactions on Automatic Control (TAC) 61(9):2644--2649, 2016. [ bib | DOI | .pdf ]
[5] L. J. Ratliff, S. A. Burden, and S. S. Sastry. On the characterization of local Nash equilibria in continuous games. IEEE Transactions on Automatic Control (TAC) 61(8):2301--2307, Aug. 2016. [ bib | DOI | .pdf ]
[4] S. A. Burden, S. Revzen, and S. S. Sastry. Model reduction near periodic orbits of hybrid dynamical systems. IEEE Transactions on Automatic Control (TAC) 60(10):2626--2639, 2015. [ bib | DOI | .pdf ]
[3] S. A. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy, and S. S. Sastry. Metrization and Simulation of Controlled Hybrid Systems. IEEE Transactions on Automatic Control (TAC) 60(9):2307--2320, 2015. [ bib | DOI | .pdf ]
[2] S. Revzen, S. A. Burden, T. Y. Moore, J.-M. Mongeau, and R. J. Full. Instantaneous kinematic phase reflects neuromechanical response to lateral perturbations of running cockroaches. Biological Cybernetics (BioCyber) 107(2):179--200, 2013. [ bib | DOI | .pdf ]
[1] N. Napp, S. A. Burden, and E. Klavins. Setpoint regulation for stochastically interacting robots. Autonomous Robots (ARO) 30:57--71, 2011. [ bib | DOI | .pdf ]

Non-archival papers and meeting abstracts

[35] M. M. Madduri, S. A. Burden, and A. L. Orsborn. A game-theoretic model for co-adaptive brain-machine interfaces. IEEE Conference on Neural Engineering (NER), May 2021. [ bib | DOI ]
[34] B. Chasnov, D. Calderone, B. Açikmeşe, S. A. Burden, and L. J. Ratliff. Stability of gradient learning dynamics in continuous games: Scalar action spaces. IEEE Conference on Decision and Control (CDC), Dec. 2020. [ bib ]
[33] R. Mallik, A. M. Pace, S. A. Burden, and B. Johnson. Accurate small-signal discrete-time model of dual active bridge using saltation matrices. IEEE Energy Conversion Congress and Exposition (ECCE), pp. 6312--6317, 2020. [ bib | DOI ]
[32] B. Chasnov, L. J. Ratliff, D. Calderone, E. Mazumdar, and S. A. Burden. Finite-time convergence of gradient-based learning in continuous games. AAAI-19 Workshop on Reinforcement Learning in Games, Jan. 2019. [ bib | .pdf ]
[31] B. Chasnov, M. Yamagami, B. Parsa, L. J. Ratliff, and S. A. Burden. Experiments with sensorimotor games in dynamic human/machine interaction. Micro- and Nanotechnology Sensors, Systems, and Applications XI, vol. 10982, p. 109822A. International Society for Optics and Photonics, 2019. [ bib | DOI | .pdf ]
[30] M. Yamagami, D. B. Howell, E. Roth, and S. A. Burden. Contributions of feedforward and feedback control in a manual trajectory--tracking task. IFAC Conference on Cyber--Physical--Human Systems (CPHS), 2018. [ bib | DOI | .pdf ]
[29] E. Roth, D. Howell, C. Beckwith, and S. A. Burden. Toward experimental validation of a model for human sensorimotor learning and control in teleoperation. SPIE Defense + Security, pp. 101941X--101941X--12. International Society for Optics and Photonics, May 2017. [ bib | DOI | .pdf ]
[28] A. M. Pace and S. A. Burden. Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation. IEEE International Conference on Robotics and Automation (ICRA), pp. 2261--2266, May 2017. [ bib | DOI | .pdf ]
[27] A. M. Pace and S. A. Burden. Assessing stability and controllability of multi--legged gaits. Dynamic Walking Meeting, 2016. [ bib | .pdf ]
[26] W. D. Nothwang, R. M. Robinson, S. A. Burden, M. J. McCourt, and J. W. Curtis. The human should be part of the control loop? Proceedings of IEEE Resilience Week, 2016. [ bib | .pdf ]
[25] B. Banjanin, S. A. Burden, T. Y. Moore, S. Revzen, and R. J. Full. Estimating predictive dynamical models of legged locomotion from data. Yearly meeting of the Society for Integrative and Comparative Biology (SICB), 2016. [ bib | http ]
[24] R. Robinson, D. R. R. Scobee, S. A. Burden, and S. S. Sastry. Dynamic Inverse Models in Human-Cyber-Physical Systems. Proceedings of the SPIE Conference on Micro-Nanotechnology Sensors, Systems, and Applications, no. 9836-68, 2016. [ bib | DOI | .pdf ]
[23] A. M. Bestick, S. A. Burden, G. Willits, N. Naikal, S. S. Sastry, and R. Bajcsy. Personalized kinematics for human-robot collaborative manipulation. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 1037--1044, 2015. [ bib | DOI | .pdf ]
[22] S. A. Burden, S. S. Sastry, D. E. Koditschek, and S. Revzen. Near-simultaneous footfalls lend stability to multi-legged gaits. Dynamic Walking Meeting, 2015. [ bib | .pdf ]
[21] S. Revzen, G. D. Kenneally, S. A. Burden, and D. E. Koditschek. Uncertain multiple contacts: A new class of bio-inspired controllers. Dynamic Walking Meeting, 2015. [ bib | .pdf ]
[20] S. A. Burden, S. S. Sastry, and R. J. Full. Optimization for models of legged locomotion: Estimation, synthesis, and design. Yearly meeting of the Society for Integrative and Comparative Biology (SICB), 2014. [ bib | http ]
[19] E. Elhamifar, S. A. Burden, and S. S. Sastry. Adaptive piecewise-affine inverse modeling of hybrid dynamical systems. Proceedings of the IFAC World Congress, pp. 10844--10849, 2014. [ bib | DOI | .pdf ]
[18] L. J. Ratliff, S. A. Burden, and S. S. Sastry. Genericity and structural stability of non-degenerate differential Nash equilibria. Proceedings of the American Control Conference (ACC), pp. 3990--3995, 2014. [ bib | DOI | .pdf ]
[17] S. A. Burden, S. Revzen, and S. S. Sastry. From anchors to templates: Exact and approximate reduction in models of legged locomotion. Dynamic Walking Meeting, 2013. [ bib | .pdf ]
[16] S. A. Burden, S. Revzen, T. Y. Moore, S. S. Sastry, and R. J. Full. Using reduced-order models to study dynamic legged locomotion: Parameter identification and model validation. Yearly meeting of the Society for Integrative and Comparative Biology (SICB), 2013. [ bib | http ]
[15] S. A. Burden and S. S. Sastry. Reduction and identification for hybrid dynamical models of terrestrial locomotion. Proceedings of the SPIE Conference on Micro-Nanotechnology Sensors, Systems, and Applications, pp. 87251B--87251B, 2013. [ bib | DOI | .pdf ]
[14] L. J. Ratliff, S. A. Burden, and S. S. Sastry. Characterization and computation of local Nash equilibria in continuous games. Proceedings of the Allerton Conference on Communication, Control, and Computing, pp. 917--924, 2013. [ bib | DOI | .pdf ]
[13] S. Revzen, S. A. Burden, D. E. Koditschek, and S. S. Sastry. Pinned equilibria provide robustly stable multilegged locomotion. Dynamic Walking Meeting, 2013. [ bib | .pdf ]
[12] I. Yang, S. A. Burden, S. S. Sastry, and C. J. Tomlin. Infinitesimal interconnection variation in nonlinear networked systems. Proceedings of the IEEE Conference on Decision and Control (CDC), pp. 1417--1422, 2013. [ bib | DOI | .pdf ]
[11] S. A. Burden, H. Ohlsson, and S. S. Sastry. Parameter identification near periodic orbits of hybrid dynamical systems. Proceedings of the IFAC Symposium on System Identification, pp. 1197--1202, 2012. [ bib | DOI | .pdf ]
[10] S. A. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy, and S. S. Sastry. Numerical integration of hybrid dynamical systems via domain relaxation. Proceedings of the IEEE Conference on Decision and Control (CDC), pp. 3958--3965, 2011. [ bib | DOI | .pdf ]
[9] S. A. Burden, S. Revzen, and S. S. Sastry. Dimension reduction near periodic orbits of hybrid systems. Proceedings of the IEEE Conference on Decision and Control (CDC), pp. 6116--6121, 2011. [ bib | DOI | .pdf ]
[8] A. Hoover, S. A. Burden, X. Fu, S. S. Sastry, and R. Fearing. Bio-inspired design and dynamic maneuverability of a minimally actuated six-legged robot. Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics (BIOROB), pp. 869--876, 2010. [ bib | DOI | .pdf ]
[7] T. Y. Moore, S. Revzen, S. A. Burden, and R. J. Full. Adding inertia and mass to test stability predictions in rapid running insects. Yearly meeting of the Society for Integrative and Comparative Biology (SICB), 2010. [ bib | http ]
[6] N. Napp, S. Burden, and E. Klavins. Setpoint regulation for stochastically interacting robots. Proceedings of Robotics: Science and Systems (RSS), 2009. [ bib | .pdf ]
[5] S. A. Burden, J. Clark, J. Weingarten, H. Komsuoglu, and D. E. Koditschek. Heterogeneous leg stiffness and roll in dynamic running. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 4645--4652, no. 605, 2007. [ bib | DOI | .pdf ]
[4] S. Burden, A. Dilley, and L. Svec. Applying voronoi diagrams to the redistricting problem. The UMAP Journal 28(3):313--329, 2007. [ bib | .pdf ]
[3] E. Klavins, S. Burden, and N. Napp. The statistical dynamics of programmed robotic self-assembly. Proceedings of the International Conference on Robotics and Automation (ICRA), pp. 1469--1476, 2006. [ bib | DOI | .pdf ]
[2] E. Klavins, S. Burden, and N. Napp. Optimal rules for programmed stochastic self-assembly. Proceedings of Robotics: Science and Systems (RSS), 2006. [ bib | .pdf ]
[1] J. Bishop, S. A. Burden, E. Klavins, R. Kreisberg, W. Malone, N. Napp, and T. Nguyen. Programmable parts: A demonstration of the grammatical approach to self-organization. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 3684--3691, 2005. [ bib | DOI | .pdf ]

PhD theses

[3] A. M. Pace. Stepping Towards Control of Systems Undergoing Impact for Legged Locomotion. Ph.D. thesis, University of Washington, 2020. [ bib | http | .pdf ]
[2] B. S. Banjanin. Data-driven modeling for hybrid dynamical systems. Ph.D. thesis, University of Washington, 2019. [ bib | http | .pdf ]
[1] S. A. Burden. A Hybrid Dynamical Systems Theory for Legged Locomotion. Ph.D. thesis, EECS Department, University of California, Berkeley, 2014. [ bib | .html | .pdf ]

MS theses

[4] L. Han. Automating perturbation experiments for a hopping robot using a Cable-Driven impedance haptic device. Master's thesis, University of Washington, Seattle, 2018. [ bib | .pdf ]
[3] T. Li. Experimental realization of feedforward deadbeat control on a hybrid model of legged locomotion. Master's thesis, University of Washington, Seattle, 2018. [ bib | .pdf ]
[2] J. Baldassini. An examination of the effects of deformable foam contact surfaces on robotic locomotion. Master's thesis, University of Washington, Seattle, 2017. [ bib | .pdf ]
[1] Y. Sosnovskaya. External measurement system for robot dynamics. Master's thesis, University of Washington, Seattle, 2017. [ bib | .pdf ]