Cheryl B. Schrader

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About

Cheryl B. Schrader is a distinguished researcher in robotics and control systems, with a primary focus on impact control and nonlinear vibration suppression. Her most significant contribution lies in developing innovative control strategies for robot manipulators during contact tasks, particularly when transitioning between free space and constrained motion. Schrader pioneered the "bang-bang impact controller" and "hybrid impedance/time-delay control" approaches, which enable robots to successfully achieve contact tasks without requiring changes to control algorithms or controller gains across all operational modes—free space, contact transition, and constrained motion. Her work on impact control, cited over 55 times, provides elegant solutions for stabilizing robots upon collision with stiff environments, a critical challenge in industrial automation and human-robot interaction. Additionally, Schrader has made notable contributions to nonlinear vibration analysis, proving that input shapers with two impulses can completely suppress residual vibrations in nonlinear systems when impulse amplitudes and timing are properly selected. Her research has practical implications for manufacturing, robotics, and precision control systems, demonstrating how sophisticated control theory can be applied to real-world engineering challenges.