G. Becker

Institut national de recherche en sciences et technologies du numérique, University of California, Berkeley

Papers

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About

G. Becker’s research focuses on the control of under-actuated mechanical systems—machines with fewer actuators than degrees of freedom—with a particular emphasis on robotic locomotion. His major contributions lie in applying advanced robust control techniques, such as parameter-dependent Lyapunov functions and μ-synthesis, to stabilize inherently unstable systems like under-actuated robot arms and walking robots. Becker’s most cited work, “Parameter-dependent control of an under-actuated mechanical system” (2002, 26 citations), demonstrates how to stabilize a two-degree-of-freedom robot arm using only one actuator by leveraging parameter-dependent control theory. His second most cited paper, “μ-synthesis control for a walking robot” (1996, 25 citations), proposes a novel design for a two-legged walking machine where both ankle joints are unactuated, requiring a computer controller to maintain balance. This work laid groundwork for bipedal locomotion research. Although his later paper on stabilizing a one-legged robot (2002, 3 citations) has fewer citations, it represents a foundational step toward building practical walking robots. Becker’s research is notable for bridging theoretical control advances with real-world robotic applications, offering valuable insights for students and researchers in robotics and control systems.