Robert D. Gregg, IV

University of Illinois at Urbana-Champaign

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Ph.D. Candidate
Graduate Research Assistant
Decision and Control Group
Coordinated Science Laboratory
Department of Electrical and Computer Engineering
University of Illinois at Urbana-Champaign
Adviser: Mark W. Spong


Graduate Student Senator
Chair, Graduate and Professional Affairs Committee
Member, Senate Executive Committee
Urbana-Champaign Senate



Robert D. Gregg (M.S. 2007) is currently a Ph.D. candidate with the Department of Electrical and Computer Engineering and the Coordinated Science Laboratory at the University of Illinois at Urbana-Champaign, under the direction of Mark W. Spong. Robert's main research interest is in the control of complex high-dimensional robotic systems, particularly dynamic walking bipeds in three dimensions.

Robert's specific interests include:
  • Passive dynamics and passivity-based control
  • Symmetry-breaking stabilization techniques
  • Geometric reduction-based control
  • Geometric properties and complexity of robot dynamics
with application to:
  • Control of bipedal dynamic walking robots in three dimensions
  • Path planning of highly-dynamic systems
  • Stability of high-order dynamic limit cycles
For a detailed summary with movies, please see my Research page.

Contact

E-mail: rgregg AT illinois DOT edu
Office: 164 Coordinated Science Laboratory
Fax: 217-244-2352

Mailing address:
Coordinated Science Laboratory, MC-228
1308 West Main St.
Urbana, IL 61801

Education History

Master of Science, 2007
Department of Electrical and Computer Engineering
University of Illinois at Urbana-Champaign
Thesis Title: Subrobots: Reduction-based Control with Application to Three-Dimensional Bipedal Walking Robots.
Thesis Adviser: Mark W. Spong

Bachelor of Science with Honors, 2006
Department of Electrical Engineering and Computer Sciences
University of California, Berkeley

Graduate Coursework

© 2009 Robert D. Gregg, IV