Papers
11
Total Citations
2,003
H-Index
9
About
Benjamin Morris is a leading figure in the field of bipedal locomotion and humanoid robotics, whose work has fundamentally advanced how robots walk, run, and maintain balance. His research centers on the control of dynamic bipedal robots, with major contributions to the theory of hybrid systems with impulse effects—a framework essential for modeling the discontinuous foot impacts inherent in walking. Morris developed key mathematical tools, including hybrid invariant manifolds and restricted Poincaré maps, to prove the exponential stability of periodic gaits, enabling robots like MABEL to achieve efficient, dynamic walking and running. His most cited work, *Feedback Control of Dynamic Bipedal Robot Locomotion* (over 1,090 citations), is considered a foundational text in the field. He also played a pivotal role in the development of Valkyrie, NASA’s first bipedal humanoid robot, designed for disaster response. With over 1,900 total citations, Morris’s rigorous theoretical contributions have directly shaped the design of compliant, energy-efficient robots and continue to influence modern control approaches for complex, high-dimensional systems.
Research Focus
Key Achievements
Top Papers
- 1Feedback Control of Dynamic Bipedal Robot Locomotion1,093 citations · 2010
- 2Valkyrie: NASA's First Bipedal Humanoid Robot298 citations · 2015
- 3
- 4MABEL, a new robotic bipedal walker and runner147 citations · 2009
- 5
- 6
- 7
- 8Achieving Bipedal Running with RABBIT: Six Steps Toward Infinity26 citations · 2007
- 9Hybrid Invariance in Bipedal Robots with Series Compliant Actuators17 citations · 2006
- 10A stabilization result with application to bipedal locomotion6 citations · 2013