Joel W. Burdick
Professor of Mechanical Engineering and Bioengineering; Deputy Director, Center for Neuromorphic Systems Engineering

B.S., Duke University, 1981; M.S., Stanford University, 1982; Ph.D., Stanford University, 1988

1200 East California Boulevard
Pasadena, CA 91125
MC 104-44

(626) 395-4139
(626) 583-4963 (fax)

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Research

Professor Burdick's research group focuses primarily on robotics, mechanical systems, and kinematics. Robots are computer controlled devices. Consequently, much of Prof. Burdick's work focuses on developing and analyzing computer algorithms which control and coordinate complex robotic motion. In addition, prototype robots are constructed to demonstrate and validate current theories. The ultimate goal of much of the group's work is to enable highly agile, mobile, and autonomous robotic systems which can operate in largely a priori unknown environments. Applications which motivate work in this group include space exploration, minimally invasive medicine, and industrial automation.

Current research interests include analysis and control of biomimetic robotic locomotion; sensor-based robotic motion planning; the mechanics and control of grasping and fixturing; development of robots for minimally invasive medicine; applied nonlinear control, and hyper-redundant (snake-like) mechanisms.

Selected Publications

The Mechanics and Control of Undulatory Locomotion (with J. P. Ostrowski), International Journal of Robotics Research, 177 (7), pp. 683-701, 1998

Mobility of Bodies in Contact I: A 2nd Order Mobility Index for Multiple-Finger Grasps (with E. Rimon), IEEE Transactions on Robotics and Automation, 14 (5), pp. 696-708, 1998

Mobility of Bodies in Contact II: How Forces are Generated by Curvature Effects (with E. Rimon), IEEE Transactions on Robotics and Automation, 14 (5), 1998

The Kinematics of Hyper-Redundant Locomotion (with G. S. Chirikjian), IEEE Transactions on Robotics and Automation, 11 (6), pp. 781-793, 1995

New Bounds on the Number of Frictionless Fingers Required to Immobilize Planar Objects (with E. Rimon), Journal of Robotic Systems, 12 (6), pp. 433-451, 1995

The Kinematics of Hyper-Redundant Locomotion (with G.S. Chirikjian), IEEE Transactions on Robotics and Automation, 11 (6), pp. 781-793, 1995