My interest is in controlled, highly dynamic systems; robots that move swiftly and require careful mechanical design due to fundamental limitations, such as motor inertia and torque limits. My research currently focuses on legged locomotion, which is an example of a system that pushes many actuator limits due to the impacts and large energy transfer of a running gait. Applications in force control are closely related.
|Research Interest Keywords|
|actuators, control, legged locomotion, mechanisms|
|The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.|
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