Bio
Benjamin Stephens is a Ph.D. student in the Robotics Institute at Carnegie Mellon University. He is originally from Oklahoma, but received his undergraduate degree in Mechanical Engineering at Northwestern University.
His PhD research, advised by Christopher Atkeson, focuses on the control of balance and push recovery for force-controlled humanoid robots. He is interested in the use of real-time optimal control for robust behaviors in very complex systems. Using his knowledge and experience, he hopes to make legged/humanoid robots more capable of operating in rough and uncertain environments and interacting closely with humans and other robots. He began work at Boston Dynamics in June 2011.
Download my Ph.D. dissertation here
Research Interests
- Humanoid Robotics
- Full Body Balance
- Force Control
- Optimal Control
- State Estimation
