Locomotion & Biomechanics Lab

The Locomotion & Biomechanics Lab investigates research problems that span legged robots and the biomechanics of human movement. The legged robot research currently focuses on underactuated biped locomotion. The work aims to develop robots and controllers for them that enable locomotion that is both energetically efficient and robust to disturbances.

The human biomechanics research currently focuses on recovery of balance and locomotion following stroke and spinal cord injury. Balance work has included developing the Wehab system to provide visual feedback in balance rehabilitation, and work with spinal cord injury has leveraged an understanding of energetics and muscle optimization in downhill walking to improve walking abilities of individuals with incomplete spinal cord injury.

Nonlinear Controls Lab

The nonlinear control lab research interests include nonlinear control, dynamical systems, applied mechanics and predictive biosimulation.

The nonlinear control research efforts are focused on distributed and multi-agent coordination problems and stratified control with application to robotic manipulation and locomotion. The applied mechanics research efforts are directed toward control of mechanical systems, specifically, control analysis and design methodologies that exploit the fact that the equations of motion represent a mechanical system. The predictive biosimulation research is focused on developing and validating models of human physiology, specifically models for whole-body glucose and fatty acid uptake, storage and oxidation and the regulation thereof.

Wensing Lab

Dr. Wensing's research interests are in the broad area of dynamic systems and control with focus on applications in robotics. His research to date has concentrated on bringing new levels of mobility to both legged robots and assistive devices.

His current work focuses on control systems synthesis for extreme-terrain mobility in humanoids and quadrupeds, system identification for humans and robots, and human-machine interface technologies for assistive exoskeletons in rehabilitation. Research in Dr. Wensing's lab is multi-disciplinary, both drawing on diverse technical backgrounds and targeting problems that sit at the interface of conventional domains.

Human & Robot Kinematics Lab

Our research group studies a wide variety of topics in human and robot kinematics, including shoulder motion, dexterous manipulator design, and singularity-free robotic wrist mechanisms.

Professor Mike Stanisic has focused on the design of singularity-free manipulators, humanoid shoulder-elbow-arm complexes, and intelligent shoulder-arm prostheses, has been active in the ASME Mechanisms and Robotics community for over 20 years was an Associate Editor for Mechanism and Machine Theory, and has been a recipient of numerous teaching awards.