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Krzysztof Jankowski is a robotics and control systems researcher whose work has made significant contributions to the dynamics and control of flexible-joint robotic systems. His research centers on two deeply interconnected themes: inverse dynamics control of robots with flexible joints and hybrid position/force control for robots interacting with constrained environments. Jankowski's most influential work, "An approach to discrete inverse dynamics control of flexible-joint robots" (1992, 48 citations), addressed a critical practical limitation of continuous-time control methods — their heavy computational demands and requirement for extremely high sampling frequencies — by developing an elegant discrete-time alternative. Complementing this, his 1992 paper on dynamic decoupling for hybrid control (44 citations) introduced exact feedback linearization techniques that elegantly handle both rigid and flexible-joint robots, preventing instability caused by joint flexibility during force-controlled tasks. His research extended naturally to multi-robot coordination, constraint formulation for invariant hybrid control, and feedforward controller design, demonstrating a sustained commitment to advancing real-world robotic manipulation. With work spanning from 1991 to 2005 and a body of research accumulating over 140 citations, Jankowski's contributions remain valuable references for engineers and researchers tackling the enduring challenges of compliant robotic systems and contact-rich manipulation tasks.