Erik I. Verriest
Papers
13
Total Citations
171
H-Index
6
About
Erik I. Verriest is a leading researcher in control theory and robotics, whose work bridges hybrid dynamical systems, optimal path planning, and biologically inspired locomotion. His most influential contribution, "Optimal Control of Switching Surfaces in Hybrid Dynamical Systems" (79 citations), provides foundational tools for managing discrete and continuous dynamics in complex systems. Verriest has also made significant advances in robotic motion, including a novel framework for optimal path planning of rectangular robots using weighted Lp norms, and collision-free, permutation-invariant formation control via root locus principles. His work on snake-like robots and bipedal walking machines—such as graceful gait transitions for hopping robots on deformable terrain and optimal walking speed transitions for fully actuated bipeds—demonstrates a deep commitment to practical, real-world locomotion challenges. Additionally, his research on total least squares fitting for point sets in m-D has applications in medical imaging and computer vision. With a career spanning theoretical rigor and applied innovation, Verriest’s work continues to inspire students and researchers in control, robotics, and optimization.
Research Focus
Key Achievements
Top Papers
- 1Optimal Control of Switching Surfaces in Hybrid Dynamical Systems79 citations · 2005
- 2
- 3Total least squares fitting of two point sets in m-D15 citations · 2002
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- 7Graceful Gait Transitions for Hopping Robots on Deformable Terrain6 citations · 2018
- 8Inversion of State-Dependent Delay6 citations · 2015
- 9Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots5 citations · 2019
- 10A variant to Naismith's problem with application to path planning5 citations · 2008