Katie Byl  
Robotics Lab  
Publications  
Map/Directions  
 

Publications

Preprints

arXiv:

  1. Nihar Talele and Katie Byl. Mesh-based Tools to Analyze Deep Reinforcement Learning Policies for Underactuated Biped Locomotion Submitted 29 Mar, 2019. (arXiv 1903.12311 site)

  2. Guillaume Bellegarda and Katie Byl. Training in Task Space to Speed Up and Guide Reinforcement Learning Submitted 6 Mar, 2019. (arXiv 1903.02219 site)

  3. Nihar Talele and Katie Byl. Toward Efficient and Robust Biped Walking Optimization Submitted 26 Jul, 2018. (arXiv 1807.09905 site)

  4. Cenk Oguz Saglam and Katie Byl. First Passage Value. Submitted 20 Dec, 2014. (arXiv 1412.6704 site)
Accepted:

  1. Nihar Talele and Katie Byl. Mesh-Based Methods for Quantifying and Improving Robustness of a Planar Biped Model to Random Push Disturbances. Submitted for ACC 2019. (pdf)
  2. Nihar Talele and Katie Byl. Methods and Performance Analyses for Design and Feedback Control of Efficient and Robust Planar Biped Walking. Accepted for ACC, 2019. (pdf)
Submitted:

  1. Guillaume Bellegarda and Katie Byl. Trajectory Optimization for a Wheel-Legged System for Dynamic Maneuvers that Allow for Wheel Slip. Submitted for CDC 2019. (pdf)

  2. Nihar Talele and Katie Byl. Mesh-based Tools to Analyze Deep Reinforcement Learning Policies for Underactuated Biped Locomotion. Submitted to CDC, 2019. (pdf)

  3. Guillaume Bellegarda and Katie Byl. Training in Task Space to Speed Up and Guide Reinforcement Learning. Submitted for IROS 2019. (pdf)

Peer-Reviewed Conference and Journal Publications

  1. Guillaume Bellegarda, Nihar Talele and Katie Byl. Exploring Nonintuitive Optima for Dynamic Locomotion. In Proc. ICRA, 2018. (pdf)

  2. Guillaume Bellegarda, Kees van Teeffelen, and Katie Byl. Design and Evaluation of Skating Motions for a Dexterous Quadruped. In Proc. ICRA, 2018. (pdf, mp4)

  3. Katie Byl, Tom Strizic, and Jason Pusey. Mesh-Based Switching Control for Robust and Agile Dynamic Gaits. In Proc. American Control Conference (ACC), 2017. (pdf)

  4. Cenk Oguz Saglam and Katie Byl. Quantifying and Optimizing Robustness of Bipedal Walking Gaits on Rough Terrain. In Proc. ISRR, 2015. (Published in 2017.) (pdf)

  5. Sebastian Sovero, Nihar Talele, Collin Smith, Nicholas Cox, Tim Swift and Katie Byl. Initial Data and Theory for a High Specific-Power Ankle Exoskeleton Device. In Proc. ISER, 2016. (pdf)

  6. Sisir Karumanchi, et al. (including Chelsea Lau, Brian Satzinger, and Katie Byl [UCSB]). Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals. In Journal of Field Robotics (JFR), Special Issue on the DRC, 2016. (pdf)

  7. Virgile Paris, Tom Stizic, Jason Pusey and Katie Byl. Tools for the Design of Stable yet Nonsteady Bounding Control. In Proc. American Control Conference (ACC), 2016. (pdf)

  8. Pat Terry, Giulia Piovan, and Katie Byl. Towards Precise Control of Hoppers: Using High Order Partial Feedback Linearization to Control the Hopping Robot FRANK. In Proc. CDC, 2016. (pdf)

  9. Giulia Piovan and Katie Byl. Approximation and Control of the SLIP Model Dynamics Via Partial Feedback Linearization and Two-Element Leg Actuation Strategy. In IEEE Trans. on Robotics, 2016. (pdf)

  10. Pat Terry and Katie Byl. CoM Control for Underactuated 2D Hopping Robots with Series-Elastic Actuation via Higher Order Partial Feedback Linearization. In Proc. CDC, 2015. (pdf)

  11. Sebastian E. Sovero, Cenk Oguz Saglam and Katie Byl. Passive Frontal Plane Stabilization in 3D Walking. In Proc. Intelligent Robots and Systems (IROS), pp.1605-1611, 2015. (pdf)

  12. Cenk Oguz Saglam and Katie Byl. Meshing Hybrid Zero Dynamics for Rough Terrain Walking. In Proc. IEEE Int. Conf. Robotics and Automation (ICRA 2015),, pp. 5718-5725, 2015. (pdf)

  13. Brian W. Satzinger, Chelsea Lau, Marten Byl, Katie Byl. Tractable Locomotion Planning for RoboSimian. IJRR 2015. (pdf)

  14. Chelsea Lau and Katie Byl. Smooth RRT-Connect: An Extension of RRT-Connect for Practical Use in Robots. In Proc. TePRA 2015. (pdf)

  15. Marten Byl and Katie Byl. Design of Fast Walking with One- Versus Two-at-a-Time Swing Leg Motions for RoboSimian. in Proc. TePRA 2015. (pdf)

  16. Cenk Oguz Saglam and Katie Byl. Metastable legged locomotion: methods to quantify and optimize reliability. (Invited Paper.) in Proc. SPIE 9467, Micro- and Nanotechnology Sensors, Systems, and Applications VII, 94671T, 2015; doi:10.1117/12.2177102 (pdf)

  17. Katie Byl, Brian Satzinger, Tom Strizic, Pat Terry and Jason Pusey. Toward agile control of a flexible-spine model for quadruped bounding. in Proc. SPIE 9468, Unmanned Systems Technology XVII, 94680C, 2015; doi:10.1117/12.2177432 (pdf)

  18. Giulia Piovan and Katie Byl. Reachability-based Control for the Active SLIP Model. in Int J Robotics Res, vol. 34, no. 3, 270-287 , 2014. (preprint: pdf)

  19. Paul Hebert, et al. (including Katie Byl and Brian Satzinger [UCSB]). Mobile Manipulation and Mobility as Manipulation - Design and Algorithms of RoboSimian. in Journal of Field Robotics (JFR), Special Issue on the DRC, vol.32, no.2, pp.255-274, 2015. doi:10.1002/rob.21566 (pdf) http://dx.doi.org/10.1002/rob.21566

  20. Brian Satzinger, Chelsea Lau, Marten Byl and Katie Byl. Experimental Results for Dexterous Quadruped Locomotion Planning with RoboSimian. in Proc. ISER 2014. (pdf)

  21. Pat Terry and Katie Byl. A Higher Order Partial Feedback Linearization Based Method for Controlling an Underactuated Hopping Robot with a Compliant Leg. in Proc. CDC 2014. (pdf)

  22. Cenk Oguz Saglam, Andrew R. Teel and Katie Byl. Lyapunov-based versus PoincarŽe Map Analysis of the Rimless Wheel. in Proc. CDC 2014. (pdf)

  23. Cenk Oguz Saglam and Katie Byl. Metastable Markov Chains. in Proc. CDC 2014. (pdf)

  24. Katie Byl, Marten Byl and Brian Satzinger. Algorithmic Optimization of Inverse Kinematics Tables for High Degree-of-Freedom Limbs. in DSCC 2014. doi:10.1115/DSCC2014-6201 (pdf)

  25. Katie Byl and Feodor Tobler. Bang-Bang Trajectory Plans with Dynamic Balance Constraints: Fast Rotational Reconfigurations for RoboSimian. in DSCC 2014. doi: 10.1115/DSCC2014-6202 (pdf)

  26. Brian Satzinger, Jason I. Reid, Max Bajracharya, Paul Hebert and Katie Byl. More Solutions Means More Problems: Resolving Kinematic Redundancy in Robot Locomotion on Complex Terrain. In Proc. IROS 2014. (pdf, video)

  27. Cenk Oguz Saglam and Katie Byl. Quantifying the Trade-Offs Between Stability versus Energy Use for Underactuated Biped Walking. In Proc. IROS 2014. (pdf)

  28. Cenk Oguz Saglam and Katie Byl. Robust Policies via Meshing for Metastable Rough Terrain Walking. In Proc. Robotics: Science and Systems (RSS), Berkeley, USA, 2014. (RSS X proceedings, pdf)

  29. Hosein Mahjoubi and Katie Byl. Dynamics of Insect-Inspired Flapping-Wing MAVs: Multibody Modeling and Flight Control Simulations. In Proc. American Confrol Conference (ACC), 2014. (pdf)

  30. Hosein Mahjoubi and Katie Byl. Efficient Flight Control via Mechanical Impedance Manipulation: Energy Analyses for Hummingbird-Inspired MAVs. Journal of Intelligent & Robotic Systems. Springer, 2013. pdf

  31. Cenk Oguz Saglam and Katie Byl. Switching Policies for Metastable Walking. In Proc. IEEE Conference on Decision and Control (CDC), 2013. (pdf)

  32. Markus Giftthaler and Katie Byl. Increased Robustness of Humanoid Standing Balance in the Sagittal Plane through Adaptive Joint Torque Reduction. In Proc. IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2013. (pdf)

  33. Hosein Mahjoubi and Katie Byl. Improvement of Power Efficiency in Flapping-Wing MAVs through a Semi-Passive Motion Control Approach. In Proc. International Conference on Unmanned Aircraft Systems (ICUAS), 2013. (pdf)

  34. Cenk Oguz Saglam and Katie Byl. Stability and Gait Transition of the Five-Link Biped on Stochastically Rough Terrain Using a Discrete Set of Sliding Mode Controllers. In Proc. IEEE Int. Conf. Robotics and Automation (ICRA), Paper 437, 2013. (pdf)

  35. Giulia Piovan and Katie Byl. Two-Element Control for the Active SLIP Model. In Proc. IEEE Int. Conf. Robotics and Automation (ICRA), Paper 5, 2013. (pdf)

  36. Hosein Mahjoubi and Katie Byl. Trajectory Tracking in the Sagittal Plane: Decoupled Lift/Thrust Control via Tunable Impedance Approach in Flapping-Wing MAVs. In Proc. American Control Conference (ACC), Paper 263, 2013. (pdf)

  37. Martin Rutschmann, Brian Satzinger, Marten Byl, and Katie Byl. Nonlinear model predictive control for rough-terrain robot hopping. In Proc. IEEE International Conf. on Intelligent Robots and Systems (IROS), Paper 999, 2012. (pdf)

  38. Paul Filitchkin and Katie Byl. Feature-based terrain classification for LittleDog. In Proc. IEEE International Conf. on Intelligent Robots and Systems (IROS), Paper 1374, 2012. (pdf)

  39. Hosein Mahjoubi and Katie Byl. Modeling synchronous muscle function in insect flight: a bio-inspired approach to force control in flapping-wing MAVs. Journal of Intelligent & Robotic Systems. Springer Netherlands, 2012. (doi: http://dx.doi.org/10.1007/s10846-012-9746-x, pdf)

  40. Hosein Mahjoubi and Katie Byl. Steering and horizontal motion control in insect-inspired flapping-wing MAVs: The tunable impedance approach. In Proc. American Control Conference (ACC), 901-908, 2012. (pdf)

  41. Min-Yi Chen and Katie Byl. Analysis and control techniques for the compass gait with a torso walking on stochastically rough terrain In Proc. American Control Conference (ACC), 3451-3458, 2012. 2012. (pdf)

  42. Hosein Mahjoubi and Katie Byl. Insect flight muscles: Inspirations for motion control in flapping-wing MAVs In Proc. International Conference on Unmanned Aircraft Systems (ICUAS), 2012. (pdf)

  43. Hosein Mahjoubi and Katie Byl. Tunable impedance: A semi-passive approach to practical motion control of insect-inspired MAVs In Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 4621-4628, 2012. (doi: 10.1109/ICRA.2012.6224577, pdf)

  44. Thrish Nanayakkara, Katie Byl, Hongbin Liu, Xiaojing Song, and Tim Villabona. Dominant sources of variability in passive walking. In Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 1003-1010, 2012. (doi: 10.1109/ICRA.2012.6224839, pdf)

  45. Giulia Piovan and Katie Byl Enforced symmetry of the stance phase for the spring-loaded inverted pendulum. In Proc. IEEE Int. Conf. Robotics and Automation (ICRA 2012), pp.1908-1914, 2012. (doi: 10.1109/ICRA.2012.6224656, pdf)

  46. Katie Byl, Marten Byl, Martin Rutschmann, Brian Satzinger, Louis van Blarigan, Giulia Piovan, and Jason Cortell. Series-elastic actuation prototype for rough terrain hopping. In Proc. IEEE International Conference on Technologies for Practical Robot Applications (TePRA). 103-110, 2012. (doi: 10.1109/TePRA.2012.6215662, pdf)

  47. Hosein Mahjoubi and Katie Byl. Analysis of a tunable impedance method for practical control of insect-inspired flapping-wing MAVs In Proc. 50th IEEE Conference on Decision and Control (CDC 2011). 3539-3546, 2011. (doi: 10.1109/CDC.2011.6160297, pdf)

  48. Katie Byl. A passive dynamic approach for flapping-wing micro-aerial vehicles. In Proc. ASME Dynamic Systems and Control Conference (DSCC 2010). 215-223, 2010. (doi: http://dx.doi.org/10.1115/DSCC2010-4289, pdf)

  49. Byl K and R Tedrake. Dynamically diverse legged locomotion for rough terrain. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA 2009). May 2009. [video presentation] (doi: 10.1109/ROBOT.2009.5152757, multi-media, pdf)

  50. Katie Byl and Russ Tedrake. Metastable walking machines. International Journal Robotics Research. 28(8):1040-1064, 2009. (doi: 10.1177/0278364909340446, pdf)

  51. Katie Byl, Alec Shkolnik, Sam Prentice, Nick Roy and Russ Tedrake. Reliable dynamic motions for a stiff quadruped. In Proc. of the 11th Int. Symp. of Experimental Robotics (ISER 2008). Springer Tracts in Advanced Robotics (STAR), 54:319-328, 2009. Winner of IFRR Student Fellowship Award. (doi: 10.1007/978-3-642-00196-3_37, pdf)

  52. Katie Byl and Russ Tedrake. Metastable walking on stochastically rough terrain. Proc. of Robotics: Science and Systems (RSS 2008). 230-237, 2009. (isbn: 978-0262513098, pdf)

  53. Katie Byl and Russ Tedrake. Approximate optimal control of the compass gait on rough terrain. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). 1258-1263, 2008. (doi: 10.1109/ROBOT.2008.4543376, pdf)

  54. Evencio Rosales, Bennett Ito, Katie Lilienkamp, and Kent Lundberg. An open-ended ball-balancing laboratory project for undergraduates. In Proc. of American Confrol Conference (ACC). 2:1314-1318, 2004. (pdf)

  55. Katie Lilienkamp and Kent Lundberg. Low-cost magnetic leviation project kits for teaching feedback system design. In Proc. of American Confrol Conference (ACC). 2:1308-1313, 2004. (pdf)

  56. Kent Lundberg, Katie Lilienkamp, and Guy Marsden. Low-cost magnetic levitation project kits. IEEE Control Systems Magazine. 24(5):65-69, Oct 2004. (doi: 10.1109/MCS.2004.1337863, pdf)

  57. Norna Robertson, B. Abbott, et al. Seismic isolation and suspension systems for advanced LIGO. In Proc. SPIE Conf. on Gravitational Wave and Particle Astrophysics Detectors. 5500(1):81-91, Sep 2004. (pdf)

  58. R. Abbott, R. Adhikari, et al. Seismic isolation and suspension systems for advanced LIGO. Classical and Quantum Gravity. 21(5):S915-S921 Sp. Iss. SI, Mar 7 2004. (pdf)

  59. David Trumper, Samir Nayfeh, and Katie Lilienkamp. Projects for teaching mechatronics at MIT. In Proceedings Mechatronics 2002: 8th Mechatronics Forum International Conference. Enschede, The Netherlands, 2002. (pdf)

  60. Michael Fripp, Donald O'Sullivan, Steve Hall, Nesbitt Hagood, and Katie Lilienkamp. Testbed design and modeling for aircraft acoustic control. In SPIE Conf. on Smart Structures and Material: Smart Structures and Integrated Systems. 3041(1): 88-99, Jun 1997. (doi: 10.1117/12.275718, pdf)

Book Chapter

  • K Byl, D Umphred, M Byl, B Stockhart, C Clayton, S Sovero, and N Byl. In Neurological Rehabilitation, D Umphred, R Lazaro, M Roller and G Burton editors. Chapter 38: Integrating Technology into the Clinical Practice, pp. 1113-1172. Elsevier, 6th edition, 2013. (book info)

Theses

PhD Theses:

  • Pat Terry. Accurate Step Length Control Strategies for Underactuated and Realistic Series Elastic Actuated Hoppers via High Order PFL. PhD Thesis, UCSB, 2016. (pdf)

  • Sebastian Sover. Steering Natural Dynamics to Yield Energy Ecient, Stable, and Agile Legged Locomotion. PhD Thesis, UCSB, 2016. (pdf)

  • Cenk Oguz Saglam. Tractable Quanti cation of Metastability for Robust Bipedal Locomotion. PhD Thesis, UCSB, 2015. (pdf)

  • Giulia Piovan. Reachability and Real-Time Actuation Strategies for the Active SLIP Model. PhD Thesis, UCSB, 2015. (pdf)

  • Hosein Mahjoubi. Passive Dynamics and Maneuverability in Flapping-Wing Robots. PhD Thesis, UCSB, 2013. (pdf)

  • Katie Byl. Metastable Legged-Robot Locomotion. PhD Thesis, MIT, 2008. (pdf)

MS Theses:

  • Peter Seungsoo Ha. ZMP and Value Iteration Based Planning to Assist Fast Walking for RoboSimian. MS Thesis, UCSB, 2014. (pdf)

  • Howard Yu-Hao Hu. Exploring Transition Trajectory from Quadrupedal Stance Using ZMP Based Bang-Bang Control and Quadratic Programming. MS Thesis, UCSB, 2014. (pdf)

  • Sebastian Altwegg. Quanti cation of Preview Control Walking Pattern Generation by Center of Mass Tracking of a Four-Link Inverted Pendulum. MS Thesis, ETH-Zurich, 2013. (pdf)

  • Martin Rutschmann. Control of a Planar, One-Legged Hopping Robot Model on Rough Terrain. MS Thesis, ETH-Zurich, 2012. (pdf)

  • Min-Yi Chen. The Compass Gait with a Torso: Analyses and Control of Walking on Stochastically Rough Terrain. MS Thesis, UC Santa Barbara, 2011. (pdf)

  • Paul Filitchkin. Visual Terrain Classi cation For Legged Robots. MS Thesis, UC Santa Barbara, 2011. (pdf)

  • Katie Byl (nee Lilienkamp). Lab Experiences for Teaching Undergraduate Dynamics. MS Thesis, MIT, 2003. (pdf)

BS Thesis:

  • Katie Byl (nee Lilienkamp). A Simulink-Driven Dynamic Signal Analyzer. BS Thesis, MIT, 1999. (pdf)

Unpublished Reports

  • Peter Ha and Katie Byl. Feasibility and Optimization of Fast Quadruped Walking with One- Versus Two-at-a-Time Swing Leg Motions for RoboSimian. 2014. (pdf)

  • Pat Terry and Katie Byl. Energy-Based Feed-Forward and Extended Feedback Linearization Control Strategies for Realistic Series Elastic Actuated Hopping Robots. 2014. (pdf)

  • Pat Terry and Katie Byl. Partial Feedback Linearization Based Control for a One-Legged Quadruped Model with Flexible Spine on Rough Terrain. 2014. (pdf)

  • Pat Terry and Katie Byl. An Analytically Computable Model and Energy-Based Control for a Realistic Series-Elastic 1D Hopper on Rough Terrain. 2013. (pdf)

  • Chris Steward and Katie Byl. Attitude Tracking of a Quadrotor System through Synergistic Hybrid Feedback Control on SO(3). 2014. (pdf)

  • Katie Byl. Optimal kinodynamic planning for compliant mobile manipulators. IEEE Int. Conf. on Robotics and Automation (ICRA): Workshop on Mobile Manipulation. 2010. (pdf)