Papers
12
Total Citations
155
H-Index
7
About
Alan Mutka is a robotics researcher whose work centers on human-robot collaboration, compliant manipulation, and legged locomotion. His most influential contribution is a collaborative human-robot framework for delicate sanding of complex surfaces, which employs a standard industrial manipulator with force/torque sensing and a compliant control algorithm—a paper that has garnered 49 citations and demonstrates a practical path toward safe, precise human-robot teamwork in manufacturing. Mutka has also made significant strides in quadruped robotics, designing a novel variable passive-compliant element for legs that allows robots to adapt to stiffness-varying terrain (16 citations), and developing a two-degree-of-freedom tail to stabilize locomotion (12 citations). His work extends to flipper-track robots, where he introduced a screw-theory-based kinematics framework (17 citations), and to low-cost vision localization using fiducial markers (19 citations). Across these projects, Mutka’s research consistently bridges mechanical design, control theory, and real-world application—from nuclear reactor inspection manipulators to exploration robots equipped with thermal cameras. His contributions have shaped how robots interact with uncertain environments and human partners, making him a notable figure in compliant and field robotics.
Research Focus
Key Achievements
Top Papers
- 1
- 2A low cost vision based localization system using fiducial markers19 citations · 2008
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- 5Stabilizing a quadruped robot locomotion using a two degree of freedom tail12 citations · 2013
- 6
- 7Elliptical motion method for robust quadrupedal locomotion8 citations · 2012
- 8
- 9Control system for reactor vessel inspection manipulator6 citations · 2009
- 10