Developed methods for time optimal path planning that can speed up robots on an assembly line, and therefore increase productivity. An early contributor to the field of iterative learning control starting in 1984, for accurate robot tracking. Demonstrated improvements in robot tracking accuracy by a factor of 1000 after 12 runs for learning. Contributed to the literature in stable grasps of multi-fingered hands, and passively stable walking of bipedal robots. Most courses 4000-level and above can be credited to all degree programs.
All courses are subject to advisor approval.
Previous exposure to dynamics and control is helpful. Linear algebra, kinematics, statics, and dynamics of robot manipulators. Survey of sensor technology, force, proximity, vision, compliant manipulators. Motion planning and artificial intelligence, manipulator programming requirements and languages. For most lectures, homework problems are assigned, due the following week.