• Minimalism in Robotics – locomotion
• Dynamic Climbing: Design and control of a single actuator dynamic climbing robot.
• Autonomous Systems and mobile manipulation in unstructured environments with applications such as search and rescue and agriculture.
• Agriculture Robotics – Minimalistic manipulation
• Mechanics in Gait Asymmetry: Is asymmetry in walking useful? Collaboration with R. Gregg, Y. Dhaher and K. Lynch (Northwestern University).
• HARP – Highly Articulated Robotic Probe: Miniature snake for cardiac surgery. Collaboration with Howie Choset, Brett Zubiate, Stephen Tully, and more

Past Projects