Bio

I am a Ph.D. candidate at UC Berkeley, working with Professor Masayoshi Tomizuka in the Mechanical Systems Control laboratory.  My research interests are in human-robot collaboration, safe and high-performance dynamic interaction and model uncertainty.

Some of my academic projects and personal projects can be found on their respective pages on the left.

I can be most easily contacted at khaninger (at) berkeley (dot) edu




Education:

Ph.D. Mechanical Engineering, UC Berkeley       December 2016
        McMurty Fellowship
        Committee: Prof. Masayoshi Tomizuka, Prof. Pieter Abbeel, Prof. Karl Hedrick

M.S. Mechanical Engineering, UC Berkeley         May 2015

B.S. Mechanical Engineering, UC Berkeley          May 2012
        Minor in Electrical Engineering
        Summa Cum Laude



Publications:

K. Haninger and M. Tomizuka, "Nonparametric Multimodal Modeling for Interactive Flexible-Joint Robots." In preparation. [DRAFT]

K. Haninger and M. Tomizuka, "Modelling, Passivity, and Robustness for Torque Control of Flexible-Joint Robots." On review[PREPRINT]

K. Haninger, J. Lu, and M. Tomizuka, "Robust Impedance Control with Applications to a Series-Elastic Actuated System" in Proc. 2016 IEEE/RSJ Intl Conf on Intelligent Robots and Systems (IROS), 2016. [PDF]

K. Haninger, J. Lu, and M. Tomizuka, "Motion Control for Series-Elastic Actuators," in Proc. 2016 American Control Conference (ACC), 2016. [PDF]

K. Haninger, K. Hedrick, "Discrete-Time Implementations of Sliding-Mode Control," in Proc. 2016 American Control Conference (ACC), 2016. [PDF]

J. Lu, K. Haninger, and M. Tomizuka, “Interactive Impedance Control of a Cable-Driven Series Elastic Actuator for Human-Robot Interaction,” in IEEE/ASME Transactions on Mechatronics, 2016. (under revision)

J. Lu, K. Haninger, W. Chen, and M. Tomizuka, "Design and Torque-Mode Control of a Cable-Driven Rotary Series Elastic Actuator for Subject-Robot Interaction," in Proc. 2015 IEEE/ASME Intl Conf on Advanced Intelligent Mechatronics (AIM), pp. 158–164, 2015. (Best Student Paper Finalist) [PDF]

K. Haninger, J. Lu, W. Chen, and M. Tomizuka, "Kinematic Design and Analysis for a Macaque Upper-Limb Exoskeleton with Shoulder Joint Alignment," in Proc. 2014 IEEE/RSJ Intl Conf on Intelligent Robots and Systems (IROS), pp. 478–483, 2014. [PDF]

J. Lu, W. Chen, K. Haninger, and M. Tomizuka, "A Passive Upper Limb Exoskeleton for Macaques in a BMI Study – Kinematic Design, Analysis, and Calibration," in Proc. 2014 ASME Dynamic Systems and Control Conference (DSCC), pp. V003T43A001-V003T43A009, 2014. (Invited Session) [PDF]

J. Bae, K. Haninger, D. Wai, X. Garcia, and M. Tomizuka, "A network-based monitoring system for rehabilitation," in Proc. 2012 IEEE Intl Conf on Advanced Intelligent Mechatronics (AIM), pp. 232-237, 2012. [PDF]
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Kevin Haninger,
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Kevin Haninger,
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Kevin Haninger,
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Kevin Haninger,
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Kevin Haninger,
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Kevin Haninger,
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Kevin Haninger,
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Kevin Haninger,
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Kevin Haninger,
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