University of Delaware - College of Engineering


Dr. Ioannis Poulakakis

Assistant Professor
Department of Mechanical Engineering
University of Delaware
205 Spencer Lab
Newark, DE 19716

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Executive Summary

Dr. Poulakakis is an Assistant Professor in the Department of Mechanical Engineering at the University of Delaware. He received his PhD from the University of Michigan, Ann Arbor in 2008 within the area of Systems and Control. He has been a Postdoctoral Research Associate at Princeton University until joining the University of Delaware in 2010. Dr. Poulakakis research interests are in the area of dynamics and control with application to bio-inspired robotic systems, specifically legged robots. In addition, he is interested in problems pertaining to the dynamics of collective decision making in multi-agent systems.

Key Publications

K. Sreenath, H.-W. Park, I. Poulakakis, and J. W. Grizzle, "A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL," International Journal of Robotics Research, published online on Sep. 17, 2010. DOI: 10.1177/027836491 0379882.

I. Poulakakis, L. Scardovi, and N. E. Leonard, "Coupled Stochastic Differential Equations and Collective Decision Making in the Two-Alternative Forced-Choice Task," American Control Conference, Baltimore, MD, USA, Jun. 30-Jul. 2, 2010.

I. Poulakakis, and J. W. Grizzle, "The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper," IEEE Transactions on Automatic Control, Vol. 54, No. 8, pp. 1779-1793, Aug. 2009. DOI: 10.1109/TAC.2009.2024565

I. Poulakakis, E. Papadopoulos, and M. Buehler, "On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait," International Journal of Robotics Research, Vol. 25, No. 7, pp. 669-687, Jul. 2006. DOI: 10.1177/0278364906066768.

I. Poulakakis, J. A. Smith, and M. Buehler, "Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot," International Journal of Robotics Research, Vol. 24, No. 4, pp. 239-256, Apr. 2005. DOI: 10.1177/0278364904050917

Research Areas

Robotics and Controls
Dynamics & control of legged robots; collaborative decision making

Dynamics and Control Theory
Nonlinear control theory; hybrid systems; dynamics and dynamical systems

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