Papers

Working papers — feedback appreciated!

 
A. De, S. A. Burden, and D. E. Koditschek. A hybrid dynamical extension of averaging. arXiv:1607.03795, 2016. [ bib | http ]

Journals

 
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), 2016 (to appear). [ bib | DOI | .pdf ]
 
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 ]
 
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), 2016 (to appear). [ bib | DOI | .pdf ]
 
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), 2016 (to appear). [ bib | DOI | .pdf ]
 
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 ]
 
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 ]
 
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 ]
 
N. Napp, S. A. Burden, and E. Klavins. Setpoint regulation for stochastically interacting robots. Autonomous Robots (ARO) 30:57--71, 2011. [ bib | DOI | .pdf ]

Conferences

 
E. Roth, D. Howell, C. Beckwith, and S. A. Burden. Toward experimental validation of a model for human sensorimotor learning and control in teleoperation. Proceedings of the SPIE Conference on Micro-Nanotechnology Sensors, Systems, and Applications, 2017 (to appear). [ bib | .pdf ]
 
A. M. Pace and S. A. Burden. Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017. [ bib | http | .pdf ]
 
A. M. Pace and S. A. Burden. Piecewise--differentiable trajectory outcomes in mechanical systems subject to unilateral constraints. Proceedings of Hybrid Systems: Computation and Control (HSCC), 2017. [ bib | http | .pdf ]
 
A. M. Pace and S. A. Burden. Assessing stability and controllability of multi--legged gaits. Dynamic Walking Meeting, 2016. [ bib | .pdf ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
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 ]
 
N. Napp, S. Burden, and E. Klavins. Setpoint regulation for stochastically interacting robots. Proceedings of Robotics: Science and Systems (RSS), 2009. [ bib | .pdf ]
 
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 ]
 
S. Burden, A. Dilley, and L. Svec. Applying voronoi diagrams to the redistricting problem. The UMAP Journal 28(3):313--329, 2007. [ bib | .pdf ]
 
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 ]
 
E. Klavins, S. Burden, and N. Napp. Optimal rules for programmed stochastic self-assembly. Proceedings of Robotics: Science and Systems (RSS), 2006. [ bib | .pdf ]
 
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 ]