Kevin S. Galloway
United States Naval Academy, University of Michigan–Ann Arbor
Papers
7
Total Citations
816
H-Index
7
About
Kevin S. Galloway is a leading figure in the field of nonlinear control theory and bipedal robotics, with his work fundamentally shaping how robots achieve stable, dynamic locomotion. His primary research areas center on the application of Control Lyapunov Functions (CLFs) and Hybrid Zero Dynamics (HZD) to complex, underactuated systems. Galloway’s most impactful contribution is the development of a framework that uses CLF-based Quadratic Programs (QPs) to enforce both stability and physical constraints, such as torque saturation, in real-time. This work, detailed in his highly cited 2014 paper on "Rapidly Exponentially Stabilizing Control Lyapunov Functions" (441 citations), provides a rigorous method for stabilizing periodic orbits in hybrid systems. He further advanced the field by directly incorporating actuator limits into these controllers, a critical step for real-world hardware. Galloway’s theoretical innovations have been validated through impressive experimental results, most notably on the 3D bipedal robot MARLO, which he successfully demonstrated walking from a standstill to a steady gait of 1 m/s. By bridging the gap between abstract nonlinear control theory and practical robotic walking, Galloway’s work has become a cornerstone for researchers aiming to create more agile and robust legged machines.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3Control lyapunov functions and hybrid zero dynamics95 citations · 2012
- 4Preliminary walking experiments with underactuated 3D bipedal robot MARLO78 citations · 2014
- 5
- 6Collective motion under beacon-referenced cyclic pursuit10 citations · 2018
- 7Symmetry and reduction in collectives: low-dimensional cyclic pursuit8 citations · 2016