Robert E. Skelton
Papers
16
Total Citations
380
H-Index
11
About
Robert E. Skelton is a pioneering figure in the field of tensegrity robotics, a domain that merges structural engineering with advanced control theory. His research focuses on the design, modeling, and control of lightweight, agile robotic systems built from tension and compression elements. Skelton’s major contributions include the development of novel tensegrity robots for specialized applications, such as the DuCTT robot (94 citations) for navigating complex duct systems, and the ball tensegrity robot (13 citations) for dynamic mobility. He has also advanced control synthesis methods for hyper-actuated mechanical systems, enabling precise, backlash-free motion control (16 citations) and time-energy optimal path planning (21 citations). His work on clustered cable-actuation (37 citations) and gyroscopic tensegrity robots (16 citations) further demonstrates his ability to enhance structural mobility and manipulation. With over 350 total citations across his most-cited papers, Skelton has established a strong impact in soft robotics and structural control. His innovative approaches, including model and data-based control strategies (28 citations), continue to inspire new generations of researchers in robotics and mechanical engineering.
Research Focus
Key Achievements
Top Papers
- 1DuCTT: A tensegrity robot for exploring duct systems94 citations · 2014
- 2
- 3
- 4Model and Data Based Approaches to the Control of Tensegrity Robots28 citations · 2020
- 5
- 6
- 7Gyroscopic Tensegrity Robots16 citations · 2020
- 8
- 9Structure of the ball tensegrity robot13 citations · 2014
- 10Dynamically stable collision avoidance for tensegrity based robots12 citations · 2009