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 Representative
Senate Executive Committee
University of Illinois Academic 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 is in the control of complex robotic systems, particularly dynamic walking bipeds in three-dimensional space.

Robert's specific research interests include:
  • Geometric control, including Lagrangian, Hamiltonian, passivity, and symmetry-based methods
  • Control, motion planning, and synchrony of bipedal dynamic walking
  • Human locomotor learning and control
  • Control of rehabilitation robotics
For a detailed summary of my projects, please see my Research page.

NEW: Symposium on Control and Modeling of Biomedical Systems, April 22-23, 2010, hosted by the Beckman Institute and Coordinated Science Laboratory with technical co-sponsorship from IEEE Control Systems Society and ASME Dynamic Systems and Control Division -- registration now live!

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 Adviser: Mark W. Spong

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

Graduate Coursework

  • NEUR 508: Systems Neuroscience (Wickesberg)
  • ECE 586: Hybrid Systems and Control (Liberzon)
  • ECE 550: Advanced Robotic Planning (Bretl and Hutchinson)
  • ECE 555: Stochastic Control (Meyn)
  • ECE 553: Optimal Control (Ma)
  • ME 598: Stochastic Methods for Dynamical Systems (Mehta)
  • SPCM 496: Service in Technology & Policy (Sandvig)
  • ECE 517: Nonlinear and Adaptive Control (Liberzon)
  • ECE 534: Random Processes (Coleman)
  • ECE 528: Analysis of Nonlinear Systems (Mehta)
  • ECE 489: Robot Dynamics and Control (Spong)
  • GE 598: Special Topics in Decentralized Control (Stipanovic)
  • ME 598: Human and Robotic Locomotor Seminar (Hsiao-Wecksler)
  • ECE 515: Control System Theory and Design (Basar)
  • Math 423: Differential Geometry (Ekerman)
  • Math 447: Real Variables (Loeb)
© 2009 Robert D. Gregg, IV