Douglas R. Isenberg
Embry–Riddle Aeronautical University, University of North Carolina at Charlotte
Papers
13
Total Citations
44
H-Index
5
About
Douglas R. Isenberg is a robotics researcher whose work centers on the dynamics, control, and simulation of complex robotic systems, with a particular focus on space robots and nonholonomic systems. His major contributions lie in the application of quaternion-based rotation operators to eliminate singularities inherent in traditional Euler-angle parameterizations for space robots undergoing large-angle rotations. This foundational work, detailed in his most-cited paper (6 citations), also provides motivation for using Kane's formulation for systems with Pfaffian constraints, offering a robust framework for modeling constrained motion. Isenberg has developed and compared quaternion-based computed-torque and feed-forward tracking controllers, demonstrating their effectiveness in singularity-free trajectory control. His research extends to terrestrial applications, including omnidirectional locomotion control for pendulum-driven spherical robots and transposed Jacobian control for mobile robots. With several papers accumulating 5 citations each, his impact is clear in advancing the theoretical and practical tools for robot control. Notably, his work on gravity offloading with a SCARA manipulator addresses the critical challenge of terrestrially testing lunar-bound systems, showcasing his ability to bridge fundamental dynamics with real-world engineering problems.
Research Focus
Key Achievements
Top Papers
- 1
- 2Computed Torque Control of a Quaternion Based Space Robot5 citations · 2008
- 3
- 4Omnidirectional locomotion control of a pendulum driven spherical robot5 citations · 2016
- 5
- 6
- 7Dynamics and simulation of a space robot in a gravitational field3 citations · 2008
- 8Transposed Jacobian Control of a Mobile Robot2 citations · 2023
- 9A Method of Gravity Offloading with a SCARA Manipulator2 citations · 2011
- 10