Research Interests:

Although I am interested in a great many things, there is a very simple common theme, which can be summarized as follows: the study of complex physical motion and the means of producing it.  Obviously, this is a broader topic than just robotics, and I am indeed interested in the motions of humans and animals (after all, they are very good at it).  However, I take a robotics-oriented view of this subject because I am interested in demonstrating complex motions in machines (real and simulated).  The lists below break down my overall research interest into its myriad component parts.  Clearly, I can't be interested in all of them simultaneously.  To see what I am working on currently, take a look at my projects page.