W. Tony Piaskowy

Seattle University, University of Washington

Papers

Total Citations

H-Index

About

W. Tony Piaskowy is a robotics researcher whose work focuses on enabling precise, safe, and adaptable control for robots interacting with uncertain environments. His core contributions lie in the intersection of iterative learning control (ILC), machine learning, and series elastic actuators (SEAs). In his most cited work, "Iterative machine learning for precision trajectory tracking with series elastic actuators" (2018, 10 citations), Piaskowy addresses a fundamental challenge: how to maintain accuracy when small position errors can cause dangerous force spikes in high-impedance robots. By combining ILC with machine learning, his approach allows robots to learn from repeated tasks and refine their motions, reducing the risk of damage to both the robot and its surroundings. He extended this concept to multi-input, multi-output (MIMO) systems in his 2021 paper (8 citations), using complex-kernel regression to handle more complex, coupled dynamics. Beyond algorithms, Piaskowy contributed to the open-source community with CoreRobotics (2018, 3 citations), a cross-platform C++ library designed to streamline robot control software development. His work is particularly impactful for applications requiring both precision and compliance, such as collaborative robots and assistive devices, demonstrating a clear path toward safer, more intelligent robotic systems.