Katie Byl  
Robotics Lab  
Publications  
Map/Directions  
 

Publications


Preprints

Accepted:

  • Giulia Piovan and Katie Byl. Reachability-based Control for the Active SLIP Model. Accepted for Int J Robotics Res, 2014. (preprint: pdf)

  • Katie Byl and Feodor Tobler. Bang-Bang Trajectory Plans with Dynamic Balance Constraints: Fast Rotational Reconfigurations for RoboSimian. Accepted for DSCC 2014. (pdf)

  • Katie Byl, Marten Byl and Brian Satzinger. Algorithmic Optimization of Inverse Kinematics Tables for High Degree-of-Freedom Limbs. Accepted for DSCC 2014. (pdf)

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

  • 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. Accepted IROS 2014. (pdf, video)

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

  • Paul Hebert, et al. Mobile Manipulation and Mobility as Manipulation - Design and Algorithms of RoboSimian. Accepted for Journal of Field Robotics (JFR), Special Issue on the DRC, 2014. (pdf)

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

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

  • Cenk Oguz Saglam and Katie Byl. Metastable Markov Chains. Accepted for CDC 2014. (pdf)
Submitted:

  • Cenk Oguz Saglam and Katie Byl. Meshing Hybrid Zero Dynamics for Rough Terrain Walking. Submitted to ICRA 2015. (pdf)

  • Cenk Oguz Saglam and Katie Byl. Quantifying and Optimizing Stability of Bipedal Walking Gaits. Submitted to ICRA 2015. (pdf)

  • Pat Terry and Katie Byl. Energy-Based Feed-Forward and Extended Feedback Linearization Control Strategies for Realistic Series Elastic Actuated Hopping Robot. Submitted to ICRA 2015. (pdf)

  • Giulia Piovan and Katie Byl. Partial Feedback Linearization and Control of the SLIP Model Via Two-Element Leg Actuation Strategy. Submitted to IEEE Transactions on Robotics, 2013. (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)

Peer-Reviewed Conference and Journal Publications

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

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

  • 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

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

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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). 1908-1914, 2012. (doi: 10.1109/ICRA.2012.6224656, pdf)

  • 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)

  • 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)

  • 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)

  • 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)

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

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

  • 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)

Theses

PhD Theses:

  • 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)

Conference Presentations and Other Publications

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

  • Katie Byl and Russ Tedrake. Control of the compass gait on rough terrain. Presented at Dynamic Walking. Delft, The Netherlands. June 2008.

  • Katie Byl and Russ Tedrake. Metastable rimless wheels. Presented at Dynamic Walking. Delft, The Netherlands. June 2008.

  • Katie Byl and Russ Tedrake. Stability of passive dynamic walking on uneven terrain. Presented at Dynamic Walking. University of Michigan. May 2006.

Invited Talks

May 2012 Dynamic Walking 2012, Pensacola, FL
Nov 2011 UCSB Vistas in Control Workshop, Santa Barbara, CA
Oct 2011 Army Robotics CTA PI Review, Invited Talk, D.C.
Oct 2010 UCSB CCDC Seminar Series, Santa Barbara, CA
May 2009 University of Illinois at Urbana-Champaign, Dept. of Aerospace Engineering
May 2009 Stanford University, Dept. of Aeronautics and Astronautics
May 2009 Arizona State University, Dept. of Mechanical and Aerospace Engineering
Apr 2009 University of Massachusetts at Amherst, Dept. of Mech. and Ind. Eng.
Apr 2009 U. of Cal. at Santa Barbara, Center for Control, Dyn. Systems and Comp.
Apr 2009 San Jos´e State University, Dept. Mechanical and Aerospace Engineering
Apr 2009 Northeastern University, Dept. Mechanical and Industrial Engineering
Apr 2009 Massachusetts Institute of Technology, Dept. of Mechanical Engineering
Mar 2009 Worcester Polytechnic Institute, Dept. of Mechanical Engineering
Mar 2009 University of New Hampshire, Dept. of Mechanical Engineering
Feb 2009 Carnegie Mellon University, Dept. of Mechanical Engineering
Oct 2008 Cornell University, Dept. of Theoretical and Applied Mechanics (TAM)
Aug 2008 Harvard, Microrobotics Laboratory
Jun 2007 Boston Dynamics, Inc. (Waltham, MA)