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About

Frank B. Mathis is a robotics researcher whose work focuses on the dynamic control and actuation of legged and manipulator systems, with a particular emphasis on impulsive and energy-efficient locomotion. His major contributions lie in the experimental validation of control strategies for hopping and swinging robots, bridging the gap between theoretical models and real-world implementation. His most cited work, "Impulsive Actuation in Robot Manipulators: Experimental Verification of Pendubot Swing-Up" (2014, 34 citations), stands out as a rare experimental demonstration of impulsive control in dynamical systems, addressing a long-standing gap in the literature. Mathis has also made significant strides in the control of hopping robots, publishing multiple papers on apex height regulation using the spring-loaded inverted pendulum (SLIP) model, including studies on two-mass (2016, 14 citations) and four-link (2013, 4 citations) configurations. Notably, his work acknowledges the fundamental limitations of the SLIP model in accounting for ground impact, pushing the field toward more realistic representations. Additionally, his research on thermal recovery of multi-limbed robots with electric actuators (5 citations) addresses the practical challenge of actuator overheating in humanoid robots, proposing data-driven thermal models for safe operation. Mathis’s work is characterized by its experimental rigor and focus on real-world robotic performance.