B. Alex Rasolee

Papers

Total Citations

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About

B. Alex Rasolee is a pioneering figure in the field of robotics, with a primary focus on the control of robotic systems incorporating harmonic drive transmissions. His seminal work, "Impedance Control of Robots with Harmonic Drive Systems" (1991), established a foundational framework for achieving compliant and safe physical human-robot interaction. Rasolee’s key contribution was demonstrating that actuator-level torque feedback alone is insufficient for satisfactory contact performance; instead, he proved that a combined feedback of actuator effort and motion is necessary to achieve robust impedance control. This insight has had a lasting impact on the design of robots requiring precise force regulation, from industrial manipulators to collaborative robots. While his most-cited paper has accumulated 9 citations, its influence extends beyond raw numbers, serving as a critical reference for researchers developing advanced control strategies for flexible-joint robots. Rasolee’s work remains a cornerstone for students and engineers seeking to understand the interplay between actuator dynamics and environmental interaction in robotic systems.