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We present a safe gain optimization algorithm for variable impedance control with control barrier functions. The algorithm is able to obtain the optimal impedance gain without manully tuning and avoid unwanted collisions in real-time. Check out our webiste page [here](https://msc.berkeley.edu/research/safe-ongo-vic.html).
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<iframe style = "position: absolute; width: 100%; height: 100%; left: 0; top: 0;"
src="https://www.youtube.com/embed/CXpVS5jvlLs" frameborder="0" controls="controls" preload="auto" allowfullscreen></iframe>
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To learn more about the research done at MSC in the past, you can download a [research booklet here]({{ site.baseurl }}/assets/files/MSC_research_2013.pdf) or check the "Previous Porjects" below.
Previous Projects
## Automotive Control
[Turbocharged Spark-Ignition Engine Control]({{ "/research/turbocharged.html" | prepend: site.baseurl}})
[Hard Disk Drive Control]({{ "/research/disk.html" | prepend: site.baseurl }})
- [Adaptive Vibration Rejection]({{ "/research/vibration.html" | prepend: site.baseurl }})
- [Spiral Servowriting]({{ "/research/spiral-servo.html" | prepend: site.baseurl }})
- [Self Servowriting]({{ "/research/self-servo.html" | prepend: site.baseurl }})
[Exoskeleton Design & Control for BMI Study]({{ "/research/exoskeleton-BMI.html" | prepend: site.baseurl }})
[Variable Stiffness Actuators (VSAs)]({{ "/research/vsa.html" | prepend: site.baseurl }})
[Individualized Assistive Device for Rehabilitation and Augmentation]({{ "/research/Individual-Device.html" | prepend: site.baseurl }})
[Mechatronics for Human Assistance]({{ "/research/mechatronics-human-assistance.html" | prepend: site.baseurl }})