Previously, he was a postdoc in the Robot Locomotion Group at MIT CSAIL and the Control Lead for MIT’s DARPA Robotics Challenge team. He received his Ph.D. in Computer Science from the University of Massachusetts Amherst in 2012, where he was supported by a NASA graduate fellowship. His current work is focused on developing algorithms for robust locomotion and manipulation, contact-implicit motion planning, and model-predictive control with applications to legged robots, fixed-wing UAVs, and human assistive devices.