I am interested in all of the following:
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If there is a general theme, then it is robot motion. I am interested
in the scientific study of complex physical motion and the means of
producing it. Thus, I am also interested in the motions of
animals and human beings, but from the perspective of a roboticist.
- mathematics (screws, spatial algebras, interval
- algorithms (forward and inverse kinematics, point and
transforms, general numerical methods, numerical accuracy and
loop-closure & constraint stabilization techniques, etc.)
- redundant robots, and task-specific redundancy
least-squares solution techniques, prioritized constraint resolution,
- motion planning & synthesis, especially
planning and associated geometrical reasoning and search techniques
- mathematics (mathematical structures and formalisms,
spatial (6D) algebras,
rigid-body equations of motion, equation formulation and analysis, etc.)
- algorithms (invention of new algorithms, efficiency,
complexity, numerical stability and accuracy, parallel execution)
- contact dynamics (contact models, collision detection,
- simulators for rigid-body dynamics, and spin-off
molecule and spacecraft dynamics simulation).
- force control, including internal force optimization,
cooperative motion, force reflection for teleoperation, etc.
- hybrid motion/force control (kinematic and dynamic
dynamic decoupling and compensation, fast & stable interaction with
- motor skills and their scientific principles (walking,
control methods, energy efficiency, etc.)
- actuators (e.g. electromagnetic and electrostatic
shape-memory and superelastic alloys, electro-active polymers)
- small autonomous robots, including robots that can
crawl, climb, swim, etc.
- high-performance robots (small, fast, accurate,
- energy-efficient walking:
simulation, design, control systems, actuators.