Thomas K. Jespersen

Papers

Total Citations

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About

Thomas K. Jespersen is a robotics researcher whose work centers on the control of dynamically unstable mobile robots, with a particular focus on ballbots—agile machines that balance on a single ball. His major contribution lies in advancing model predictive control (MPC) for these challenging platforms. In his most-cited work, "Path-Following Model Predictive Control of Ballbots" (2020, 8 citations), Jespersen introduced a novel MPC framework that enables precise path-following by employing a simplified, computationally efficient model derived from a full quaternion-based representation. This approach balances the inherent instability of ballbots with real-time control demands, offering a practical solution for agile locomotion. While his citation count is modest, reflecting the niche and emerging nature of the field, his work is foundational for researchers tackling nonlinear, underactuated systems. Jespersen’s contributions are notable for bridging theoretical control methods with real-world robotic applications, making him a key figure in the development of next-generation mobile robots for tasks requiring high maneuverability.