He received his Ph.D. from Cornell University, Ithaca, NY. His research interests span the areas of robotics, modeling, and simulation. Examples of his work include the spherically symmetric ``Platonic Beast'' walking robot, the Least Constraint framework for programming high degree-of-freedom systems, and a classification of kinematic singularities. His recent interests are in area of interactive simulation --- this involves developing better models, simulation algorithms, and implemented systems for haptic interaction, sound synthesis, and telerobotics.