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About

Steven Jens Jorgensen is a robotics researcher whose work sits at the intersection of humanoid locomotion, whole-body control, and actuator design. He is best known for his contributions to dynamic bipedal locomotion, particularly his highly cited 2020 paper on whole-body locomotion control (WBC) for passive-ankle biped robots and humanoids, which has garnered 132 citations and represents a significant advance in task-oriented feedback control for loco-manipulation behaviors. His 2017 work on impedance control for series elastic actuators (SEAs), with 60 citations, addressed critical challenges in designing compliant, torque-controlled robots capable of safe human-robot interaction. Jorgensen has also contributed to versatile locomotion planning through frameworks like TOWR+ and implicit hierarchical whole-body control, and he participated in MIT's team effort for the prestigious DARPA Robotics Challenge. His research extends into thermal management of electric actuators, tether-friction mechanics for field robotics, and model predictive control for human-robot interaction scenarios, demonstrating notable breadth across both theoretical and applied domains. With over 260 cumulative citations, Jorgensen's body of work reflects a sustained commitment to bridging the gap between idealized robot models and real-world deployment, making him a valuable reference for researchers advancing legged robotics and humanoid systems.