Devin Koepl

Papers

Total Citations

H-Index

About

Devin Koepl is a researcher whose work sits at the intersection of robotics, biomechanics, and control theory, with a primary focus on legged locomotion. His most significant contributions center on developing robust and energy-efficient control strategies for dynamic running gaits, specifically using spring-mass models. In his highly cited 2011 paper, "Force control for planar spring-mass running," Koepl introduced a novel control strategy that combines passive dynamic behavior with active hip angle trajectory commands, achieving remarkable robustness to disturbances while maintaining energy economy. This work, along with its 2013 companion paper on impulse control, has garnered over 50 citations, establishing Koepl as a key figure in the field of dynamic legged locomotion. His 2010 paper, "Optimal passive dynamics for torque/force control," further demonstrates his broader interest in the interplay between mechanical design and control, showing how optimizing passive dynamics can enhance force control performance in robotic manipulation. Koepl’s research elegantly bridges theory and application, offering practical insights for building more agile and efficient robots.