Papers
4
Total Citations
20
H-Index
3
About
Pat Terry is a robotics researcher whose work focuses on the control of dynamic legged locomotion, particularly for hopping and bounding robots. His major contributions center on developing advanced control strategies for underactuated, series-elastic actuated robots, enabling precise and agile movement. Terry pioneered the use of higher-order partial feedback linearization to achieve precise center-of-mass and body-angle control in hopping robots, as demonstrated in his work on the FRANK robot. His research addresses the fundamental challenge of achieving stable, robust, and agile gaits in systems with realistic actuator dynamics and compliance. While his citation counts (9, 5, and 4 for his top papers) reflect a specialized and emerging field, his work is foundational for advancing toward more agile and resilient legged robots capable of navigating complex terrain and recovering from perturbations. Terry's research is particularly notable for bridging the gap between simplified theoretical models (like the SLIP model) and the practical control of real, underactuated robotic systems with compliant legs and flexible spines.
Research Focus
Key Achievements
Top Papers
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- 4Toward agile control of a flexible-spine model for quadruped bounding2 citations · 2015