Education

For Michigan Robotics, I designed, developed, and taught:

• ROB 101 Computational Linear Algebra (piloted Fall 2020)
• ROB 201 Calculus for the Modern Engineer (piloted Fall 2024)
• ROB 501 Mathematics for Robotics (piloted Fall 2014)

The material for ROB 101, 201, and 501 has been open-sourced.

From 1987 to 2020, I taught courses primarily in the areas of feedback control and applied mathematics for engineering. At the University of Michigan’s EECS Department, these included:

• EECS 216 Signals and Systems
• EECS 460 Control Systems Analysis and Design
• EECS 560 Linear Systems Theory
• EECS 562 Nonlinear Systems and Control
• EECS 600 Function Space Methods for Systems Theory
• EECS 662 Advanced Nonlinear Control

Course notes for the EECS courses have been passed on to Professors Necmiye Ozay and Dimitra (Mika) Panagou.

For Undergraduates Wanting to Learn Control of Bipedal Locomotion: Dr. Wami Ogunbi’s Bipedal Bootcamp

Research Monograph Feedback Control of Dynamic Bipedal Robot Locomotion co-authored with Eric R. Westervelt, Christine Chevallereau, Jun-Ho Choi, and Benjamin Morris, published by Taylor & Francis in June, 2007, is available for free  download. It treats virtual constraints and hybrid zero dynamics for the creation of asymptotically stable periodic motions in hybrid systems. I would also suggest the following papers that significantly extend these methods: Machine Learning, Zero Dynamics and Low-order Models, MPC and Virtual Constraints, Robust Optimization, and Bilinear Matrix Inequalities (BMI). Tutorial material: 2018 HZD Review paper by Ames and Poulakakis, Book Chapter In: Goswami A., Vadakkepat P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht, and 2015 Survey on HZD in Automatica.