Publications
Journal Papers
Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs. S. Kumar, A. Mohammadi, D. Quintero, S. Rezazadeh, N. Gans, and R. Gregg. IEEE Transactions on Control Systems Technology, 2019, doi: 10.1109/TCST.2019.2928514. (Preprint: PDF | Video)
Extremum Seeking Control for Stiffness Auto-Tuning of a Pseudo-Passive Ankle Exoskeleton. S. Kumar, M. Zwall, E. Bolivar, R. Gregg, and N. Gans. IEEE Robotics & Automation Letters, 2020, doi:10.1109/LRA.2020.3001541. (Preprint: PDF | Video)
Stability of Time-Invariant Extremum Seeking Control for Periodic Systems. S. Kumar, O. Makarenkov, R. Gregg, and N. Gans. IEEE Transactions on Automatic Control, 2022., doi: 10.1109/TAC.2022.3181253. (Preprint: PDF)
Conference Papers
Comprehensive Swing Leg Motion Predictor for Steady and Transient Walking Conditions H. Xing, S. Kumar, and H. Geyer, accepted to ICRA 2022. (Preprint: PDF | Video)
Limit Cycle Minimization by Time-Invariant Extremum Seeking Control. S. Kumar, A. Mohammadi, R. Gregg, and N. Gans. In American Control Conference, 2019. (Preprint: PDF)
Automatic Tuning of Virtual Constraint-Based Control Algorithms for Powered Knee-Ankle Prostheses. S. Kumar, A. Mohammadi, N. Gans, and R. Gregg. IEEE Conference on Control Technology and Applications (Invited Session on Robotic Locomotion Control), Hawaii, 2017. Best Student Paper Award Finalist. (Preprint: PDF | Video)
Extremum Seeking Control for Multi-Objective Optimization Problems. S. Kumar and N. Gans. IEEE 55th Conference on Decision and Control (CDC), Las Vegas, NV, 2016, pp. 1112-1118, doi: 10.1109/CDC.2016.7798416. (Preprint: PDF | MATLAB Code)
Posters
Time-Invariant Extremum Seeking Control. S. Kumar, O. Makarenkov, R. Gregg, and N. Gans. American Control Conference, 2020. (PDF | Video)
Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs. S. Kumar, A. Mohammadi, D. Quintero, S. Rezazadeh, N. Gans, and R. Gregg. IEEE International Conference on Robotics and Automation, Brisbane, Australia, 2018. (PDF)