He received degrees in Computer Science (BA) and Engineering (BS) from Swarthmore College, and a Ph.D in Computer Science from Brandeis University. He has held postdoctoral positions in Cornell's Mechanical Engineering Department and Tufts University's Biology Department. His research interests include tensegrities, soft and amorphous robotics, 3D printing, and the evolution of physical systems. Economy of motion: three problems of efficient robotic locomotion and manipulation Devin Balkcom