EDUCATION

Ph.D. Computer Science, University of Utah 1988
M.S. Mechanical Engineering, Pennsylvania State University 1984
B.A. Physics, Franklin and Marshall College 1980
B.S. Mechanical Engineering, Washington University 1980

Professor Grupen is a Co-Editor-in-Chief of the Journal of Robotics and Autonomous Systems Journal and Artificial Intelligence for Engineering Design, Analysis and Manufacturing (AI EDAM).

RESEARCH INTERESTS

Professor Grupen conducts research that integrates signal processing, control, dynamical systems, learning, and development as a means of modeling intelligent systems. A central focus is controllers for complex, highly redundant, distributed systems. Grupen and his students have contributed hierarchical representations for sensorimotor policies that facilitate learning and transfer. This approach guides experimental research aimed toward:

• control
  • collision-free motion control
  • sensor-guided grasping
  • kinematic and dynamic conditioning
  • multi-objective, distributed, and co-articulated control
  • assembly
• knowledge representation for learning, abstraction, generalization, and transfer
• walking and manipulation gaits
• mobile manipulation
• activity modeling in distributed sensor arrays
• learning communicative behavior

In conjunction with colleagues in Computer Science and Developmental Psychology, these tools have been used as the basis of a computational model of sensorimotor development in humans and machines. Work is underway that seeks to explain the dynamics of early childhood development in terms of a stochastic search and policy formation in a well-defined space of native actions.

PUBLICATIONS

RECENT COURSES

courses and seminars: